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Development of a high-resolution near-surface meteorological forcing dataset for the Third Pole region

Science China Earth Sciences 2025年第4期68卷 1274-1290页

作者： Yaozhi JIANG Wenjun TANG Kun YANG Jie HE Changkun SHAO Xu ZHOU Hui LU Yingying CHEN Xin LI Jiancheng SHI School of Resources and Environment University of Electronic Science and Technology of ChinaChengdu611731China Department of Earth System Science Ministry of Education Key Laboratory for Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing100084China National Tibetan Plateau Data Center State Key Laboratory of Tibetan Plateau Earth SystemEnvironment and ResourcesInstitute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing100101China State Key Laboratory of Hydroscience and Engineering Tsinghua UniversityBeijing100084China Tsinghua University(Department of Earth System Science)-Xi’an Institute of Surveying and Mapping Joint Research Center for Next-Generation Smart Mapping Beijing100084China National Space Science Center Chinese Academy of SciencesBeijing100190China

Recently,the Third Pole(TP)region has experienced rapid environmental *** data are essential for hydrometeorological and ecological applications but still have large uncertainties on the TP owing to the heterogeneous land surface,complex terrain,and sparse weather *** this study,a long-term(1979–2020)high-resolution(1/30°)meteorological forcing dataset for the TP(TPMFD)was developed,as a sister to the widely used China Meteorological Forcing Dataset(CMFD).The TPMFD comprises seven components necessary for driving land surface *** have previously contributed precipitation and downward shortwave radiation data for the TPMFD,and this study presents the development of five other components and focuses on validations for all ***,2-meter air temperature,2-meter specific humidity,10-meter wind speed,and surface air pressure were generated by combining the fifth-generation atmospheric reanalysis for European Center for Medium-Range Weather Forecasts(ERA5),a short-term high-resolution atmospheric simulation,and in situ observations,and the downward longwave radiation was calculated using semi-physical *** cross-validation and independent-validation demonstrated that most variables in the developed dataset outperformed those in widely used reanalysis datasets,including ERA5,ERA5-Land,and the Global Land Data Assimilation system(GLDAS).This dataset is expected to be beneficial for climate analyses and modeling applications of land-surface processes on the TP.

关键词： Meteorological data Third Pole High-resolution Data downscaling and merging

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Indentation behavior of a semi-infinite piezoelectric semiconductor under a rigid flat-ended cylindrical indenter

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Applied Mathematics and Mechanics(English Edition) 2024年第4期45卷 649-662页

作者： Shijing GAO Lele ZHANG Jinxi LIU Guoquan NIE Weiqiu CHEN State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050043China Hebei Key Laboratory for Mechanics of Intelligent Materials and Structures Department of Engineering MechanicsShijiazhuang Tiedao UniversityShijiazhuang 050043China State Key Laboratory of Computer Aided Design and Computer Graphics Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou 310027China

This paper theoretically studies the axisymmetric frictionless indentation of a transversely isotropic piezoelectric semiconductor(PSC)half-space subject to a rigid flatended cylindrical *** contact area and other surface of the PSC half-space are assumed to be electrically *** the Hankel integral transformation,the problem is reduced to the Fredholm integral equation of the second *** equation is solved numerically to obtain the indentation behaviors of the PSC half-space,mainly including the indentation force-depth relation and the electric potential-depth *** results show that the effect of the semiconductor property on the indentation responses is limited within a certain range of variation of the steady carrier *** dependence of indentation behavior on material properties is also analyzed by two different kinds of *** element simulations are conducted to verify the results calculated by the integral equation technique,and good agreement is demonstrated.

关键词： piezoelectric semiconductor(PSC) insulating indenter electromechanical response singular integral equation finite element simulation

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Mechanochemical control of graphene etching along zigzag and armchair edge directions

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Friction 2025年第4期13卷 97-104页

作者： Yilong Jiang Chuan Tang Chao Chen Yangqin Liu Yang Wang Seong H.Kim Junhui Sun Linmao Qian Lei Chen Tribology Research Institute The State Key Laboratory of Rail Vehicle SystemSchool of Mechanical EngineeringSouthwest Jiaotong UniversityChengdu 610031China Department of Chemical Engineering and Materials Research Institute The Pennsylvania State UniversityUniversity ParkPennsylvania 16802USA State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical PhysicsChinese Academy of SciencesLanzhou730000China

The atomic edge structure of graphene governs its unique electronic properties with applications in nanoscale electronics and *** fully realize its potential,it is critical to develop a precision etching process producing graphene edges along desired ***,we present a novel approach utilizing scanning probe lithography(SPL)facilitated by a mechanochemical atomic attrition *** technique enables the fabrication of nanopatterns in single-layer graphene from graphene edges,precisely along the crystallographic orientation of zigzag(ZZ)and armchair(AC)edges,without inducing mechanical damage to the surrounding *** functional theory(DFT)calculations revealed that the dissociation of CC bonds by the SPL probe is mediated by the formation of interfacial bridge bonds between the graphene edge and the reactive silica *** SPL-based mechanochemical etching method enables the construction of various nanodevice structures with specific edge orientations,which allows the exploitation of their electronic properties.

关键词： atomic attrition fabrication zigzag(ZZ)and armchair(AC)edges graphene nanopatterns scanning probe lithography(SPL) density functional theory(DFT)calculation

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

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Robotic mobile and mirror milling of large-scale complex structures

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National Science Review 2023年第5期10卷 10-13页

作者： Zenghui Xie Fugui Xie Limin Zhu Xin-Jun Liu State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical Engineering(DME) Tsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong University

Large-scale complex structures,such as spacecraft cabins,aircraft composite skins and launch vehicle fuel tanks,are the core components of the equipment in aerospace,energy,shipbuilding and other *** milling quality and efficiency are factors directly affecting the performance and productivity of spacecraft,aircraft and other key *** kind of structure generally features large dimension,high accuracy,

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Biosyncretic robotic systems:Comprehensive construction,application,and future challenges

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Science China(Technological Sciences) 2025年第4期68卷 1-23页

作者： Qi ZHANG Chuang ZHANG Lianchao YANG Hengshen QIN Yiwei ZHANG Ying ZHAO Lianqing LIU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang 117004China

Owing to the deep integration of biological and electromechanical systems,biosyncretic robotic systems have emerged as a significant research interest in *** study presents the latest related research featuring various biological *** the classification of biosyncretic robotic systems,the key technologies for construction are elucidated and summarized,including comprehensive structural design,fabrication,and behavior control ***,emphasis has been placed on their applications,particularly within the biomedical ***,the challenges are summarized,and their future developments are envisioned.

关键词： biosyncretic robots biohybrid robots bioactuators cell actuation living machines

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A Unified Trajectory Optimization Approach for Long-Term and Reactive Motion Planning of Legged Locomotion

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Journal of Bionic Engineering 2023年第5期20卷 2108-2122页

作者： Yapeng Shi Bin Yu Kaixian Ba Mantian Li School of Mechanical Engineering Yanshan UniversityNo.438 West Hebei AvenueQinhuangdao066004HebeiPeople’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001People’s Republic of China

This paper proposes a unified trajectory optimization approach that simultaneously optimizes the trajectory of the center of mass and footholds for legged *** on a generic point-mass model,the approach is formulated as a nonlinear optimization problem,incorporating constraints such as robot kinematics,dynamics,ground reaction forces,obstacles,and target *** unified optimization approach can be applied to both long-term motion planning and the reactive online planning through the use of model predictive control,and it incorporates vector field guidance to converge to the long-term planned *** effectiveness of the approach is demonstrated through simulations and physical experiments,showing its ability to generate a variety of walking and jumping gaits,as well as transitions between them,and to perform reactive walking in obstructed environments.

关键词： Legged locomotion Motion planning Trajectory optimization Bionic robot

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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

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Frontiers of Mechanical Engineering 2021年第4期16卷 711-725页

作者： Yiwei LIU Shipeng CUI Yongjun SUN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The safety of human-robot interaction is an essential requirement for designing collaborative ***,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative *** A follows the idea of modular design,mainly including a variable stiffiiess module and a drive *** variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A *** the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric *** design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the ***,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the *** facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also *** calibration and control experiments are performed to evaluate the physical performance of the designed *** results show that the VSA stiffiiess is close to the theoretical design ***,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.

关键词： variable stiffiiess actuator variable stiffness module drive module symmetrical structure doubledeck grooves expandable electrical system

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Analysis and optimization of batteries powering inductive pulsed power supplies

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High Voltage 2023年第1期8卷 119-127页

作者： Hao Sun Xinjie Yu Zhen Li Bei Li Zhizhen Liu Songheng Yang Hongzhuang He Department of Electrical Engineering Tsinghua UniversityBeijingChina State Key Laboratory of Power System Tsinghua UniversityBeijingChina Department of Electrical Engineering Xi'an Jiaotong UniversityXi'anChina

Inductive pulsed power supply(IPPS)is a promising type of power supplies for electromagnetic launch,but its advantage in energy density is strongly restricted by the primary power ***,batteries become a suitable and practical choice for the primary *** this paper,the working process of battery powering IPPS is analysed in *** indicators of the charging performance are calculated,which are then proved to be irrelevant to most of the parameters of *** on this,an optimization method for battery and IPPS system is proposed,in which the charging and discharging processes can be *** for the decoupled battery charging process,the bi-objective optimization model is *** examples illustrate the feasibility and effectiveness of the proposed optimization *** order to further improve the performance of the battery and IPPS system,the inherent time constant of the inductors and the output power density of the battery cell should be increased.

关键词： battery optimization power

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot 5

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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5th International Conference on Mechatronics, robotics and Automation, ICMRA 2022

作者： Chen, Qiao Liu, Yiwei Chen, Zhuo Zhou, Yangjunjian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665472654

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots. © 2022 IEEE.

关键词： Motion planning

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