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Power Consumption Characteristics Research on Mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

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Tumor microenvironment-sensitive polymeric nanoparticles for synergetic chemo-photo therapy

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Chinese Chemical Letters 2024年第11期35卷 44-56页

作者： Tingting Hu Chao Shen Xueyan Wang Fengbo Wu Zhiyao He Department of Pharmacy Cancer Center and State Key Laboratory of BiotherapyWest China HospitalSichuan UniversityChengdu 610041China Key Laboratory of Drug-Targeting and Drug Delivery System of the Education Ministry West China School of PharmacySichuan UniversityChengdu 610041China

Nanoparticles that employ stimuli-responsive polymeric delivery carriers have emerged as intelligent nanoplatforms with great potential in cancer theranostics,mainly including cancer diagnosis,controlled/triggered drug delivery,and real-time monitoring of therapeutic ***,tumor microenvironment(TME)-responsive polymeric nanocarriers in response to weak acidity,hypoxia,reactive oxygen species(ROS),glutathione(GSH),or tumor enzymes in the TME show great promise in facilitating tumor accumulation,enhancing tumor penetration,prolonging tumor retention,and achieving controlled drug release,thereby improving the efficiency of tumor ***,the combination of chemotherapy and phototherapy presents a promising endeavor for the treatment of tumors,which allows for the integration of the advantages of each treatment modality,addressing the shortcomings of the two methods,and amplifying the efficacy of tumor treatment while reducing adverse *** review focuses on the latest progress in the development of TME-responsive polymeric nanoparticles for synergetic chemo-photo therapy,and discusses the critical challenges and future considerations involved in the fabrication of TME-responsive nanocarriers.

关键词： Polymeric nanoparticles Tumor microenvironment-sensitive Chemotherapy Photothermal therapy photodynamic therapy Combination therapy

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A Simple Open-loop Soft Startup Method Based on Operation Mode Analysis for LCC Converters Used in High-voltage DC Power Supply 10

A Simple Open-loop Soft Startup Method Based on Operation Mo...

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

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

ISBN: (纸本)9798350351330

LCC converters incorporate the stray parameters of high frequency transformer and are commonly employed as the initial stage of high-voltage DC power supplies, enhancing both efficiency and power density. However, the significant overshoot that occurs during the startup phase of high-voltage DC power supply poses considerable difficulties for the circuit. In this article, a simple open-loop soft startup control method is proposed: First, the operation mode analysis method is used to accurately solve the time-domain model of the LCC converter under different duty cycles in continuous current mode (CCM). Second, an open-loop variable duty cycle soft startup control strategy from the energy transmitted view is derived. Finally, soft startup process corresponding to different startup time requirements are verified on a 200V/20kV experimental prototype. © 2024 IEEE.

关键词： Time domain analysis

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Online Optimization in Power systems With High Penetration of Renewable Generation:Advances and Prospects

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 839-858页

作者： Zhaojian Wang Wei Wei John Zhen Fu Pang Feng Liu Bo Yang Xinping Guan Shengwei Mei Key Laboratory of System Control and Information Processing Ministry of Education of ChinaDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Power System and the Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Institute of High Performance Computing(IHPC) Agency for Science Technology and Research(A*STAR)Singapore 138632Singapore

Traditionally,offline optimization of power systems is acceptable due to the largely predictable loads and reliable *** increasing penetration of fluctuating renewable generation and internet-of-things devices allowing for fine-grained controllability of loads have led to the diminishing applicability of offline optimization in the power systems domain,and have redirected attention to online optimization ***,online optimization is a broad topic that can be applied in and motivated by different settings,operated on different time scales,and built on different theoretical *** paper reviews the various types of online optimization techniques used in the power systems domain and aims to make clear the distinction between the most common techniques *** particular,we introduce and compare four distinct techniques used covering the breadth of online optimization techniques used in the power systems domain,i.e.,optimization-guided dynamic control,feedback optimization for single-period problems,Lyapunov-based optimization,and online convex optimization techniques for multi-period ***,we recommend some potential future directions for online optimization in the power systems domain.

关键词： optimization Lyapunov optimization online convex optimization online optimization optimization-guided control

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Progress on two-dimensional ferrovalley materials

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Chinese Physics B 2024年第1期33卷 32-43页

作者：李平刘邦陈帅张蔚曦郭志新 State Key Laboratory for Mechanical Behavior of Materials Center for Spintronics and Quantum SystemSchool of Materials Science and EngineeringXi'an Jiaotong UniversityXi'an 710049China State Key Laboratory for Surface Physics and Department of Physics Fudan UniversityShanghai 200433China Jinan Aviation Repair Factory Jinan 250000China Department of Physics and Electronic Engineering Tongren UniversityTongren 554300China

The electron's charge and spin degrees of freedom are at the core of modern electronic devices. With the in-depth investigation of two-dimensional materials, another degree of freedom, valley, has also attracted tremendous research interest. The intrinsic spontaneous valley polarization in two-dimensional magnetic systems, ferrovalley material, provides convenience for detecting and modulating the valley. In this review, we first introduce the development of ***, the valley polarization forms by the p-, d-, and f-orbit that are discussed. Following, we discuss the investigation progress of modulating the valley polarization of two-dimensional ferrovalley materials by multiple physical fields, such as electric, stacking mode, strain, and interface. Finally, we look forward to the future developments of valleytronics.

关键词： ferrovalley valley polarization two-dimensional materials multi-field tunable

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A Core Loss Estimation Method Based on Data-driven Technology with Multi-head Attention Mechanism 10

A Core Loss Estimation Method Based on Data-driven Technolog...

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

作者： Su, Bowen Sun, Kai Yang, Min Xiao, Yunhao Zhang, Kai Liu, Bo Tsinghua University State Key Laboratory of Power System Operation and Control Department of Electrical Engineering China

ISBN: (纸本)9798350351330

Magnetic components play an important role in power electronic equipment, but there is still lack of accurate magnetic core loss estimation model. The data-driven methods are well-developed in recent years, and they are also more robust and accurate than conventional model-driven methods like Steinmetz Equation (SE) and improved Generalized Steinmetz Equation (iGSE). However, existing data-driven methods often focus on single excitation waveform like sinusoidal excitation waveform, which is not robust enough when facing complex excitation waveform with many high-frequency harmonic waveform. This paper presents a data-driven model based on attention mechanism which can capture the inner relationship within the input excitation waveform to present a more accurate core loss estimation results. And the comparison results with Multi-layer Perceptron (MLP) and Long Short-Term Memory(LSTM) models indicates that the proposed model has much more accuracy when facing complex excitation waveform. The proposed model can help to design magnetic components. © 2024 IEEE.

关键词： Facings

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Influence of Crosslinking Parameters on the Space Charge Characteristics of Hindered Phenol Antioxidant Grafted Polyethylene 14

Influence of Crosslinking Parameters on the Space Charge Cha...

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14th International Conference on the Properties and Applications of Dielectric Materials, ICPADM 2024

作者： Zhou, Yuanxiang Hou, Xuzhao Cheng, Jiayu Zhang, Ling Tsinghua University State Key Laboratory of Power System Department of Electrical Engineering Beijing100084 China

ISBN: (纸本)9798350374605

Cross-linked polyethylene (XLPE) insulation materials are used widely in high-voltage cables. To slow down the thermal-oxidative aging of XLPE, it is common practice in engineering to add an appropriate amount of antioxidant during the preparation of XLPE masterbatches. Antioxidant 300 was selected and added to low-density polyethylene, with the antioxidant 300 being grafted onto the polyethylene molecular chains through a chemical reaction during the crosslinking process. The effects of different crosslinking temperatures and times on the crosslinking rate, mechanical properties, physicochemical properties, and space charge distribution characteristics of the XLPE were studied. The results show that with the increase of crosslinking temperature or the extension of crosslinking time, the gel content and tensile strength of XLPE increase, while the crystallinity decreases, and the height of the hydroxyl absorption peak in the infrared spectrum curve reduces, leading to increasingly severe electric field distortions caused by space charges. These findings provide data support for scientific research and engineering fields. © 2024 IEEE.

关键词： Grafting (chemical)

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Effects of Temperature-Induced Crystalline Phase Transition on the Space Charge Characteristics of Isotactic Polypropylene 14

Effects of Temperature-Induced Crystalline Phase Transition ...

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14th International Conference on the Properties and Applications of Dielectric Materials, ICPADM 2024

作者： Zhou, Yuanxiang Hou, Xuzhao Cheng, Jiayu Zhang, Ling Tsinghua University State Key Laboratory of Power System Department of Electrical Engineering Beijing100084 China

ISBN: (纸本)9798350374605

Isotactic polypropylene (iPP), especially its β - crystal form, has demonstrated outstanding advantages in terms of electrical insulation properties. However, under certain conditions, the metastable β -crystal form may transform into the more stable α -crystal form, which could affect the insulating properties of iPP and potentially threaten the safe and reliable operation of power cables. This study focuses on the temperature-induced crystalline phase transition behavior of iPP, first exploring the specific conditions for temperature-induced phase transition. Based on the determined conditions for temperature-induced phase transition, further research was conducted on the performance changes of iPP after constant-temperature phase transition treatment. The research found that the higher the temperature of the constant-temperature phase transition treatment, the more complete the transition from β phase to α phase, with an increase in melting temperature and no significant impact on crystalline properties. Under a field of -30 kV/mm, with the increase of constant-temperature, the space charge injection amount of iPP increased, as did the field distortion rate. The data and analysis obtained from this study provide reference information for the regulation of the crystal form of iPP and its impact on electrical insulation properties. © 2024 IEEE.

关键词： Crystalline materials

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Theaflavins ameliorate insulin resistance and anxiety-like behavior induced by propionate combined with high-fat diet

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Food Science and Human Wellness 2024年

作者： Huijuan Bai Qian Yang Xiang Zuo Qian Yu Qili Zhao Yifei Tian Yixin Xu Jiawei Du Xin Zhao Xizeng Feng College of Life Science， State Key Laboratory of Medicinal Chemical Biology， Nankai University Institute of Robotics & Automatic Information System， College of Artificial Intelligence， Nankai University

Insulin resistance is a key pathological process in the development of type II diabetes， which can also lead to depression， anxiety and other symptoms. With the accelerated pace of life， food with high-energy and additives is becoming more and more common in people's diet. Propionate is a naturally existing short-chain fatty acid salt that has been widely used as a food preservative， but studies have found that low concentrations of propionate can induce insulin resistance. Theaflavins (TFs) are characteristic components of black tea， which have the biological activity of hypoglycemic and lipid-lowering. In the present study， we used propionate combined with high-fat diet to induce insulin resistance in mice and treated them with theaflavins. The results showed that propionate could aggravate insulin resistance and anxiety induced by high-fat diet in mice. TFs alleviated insulin resistance and anxiety induced by propionate combined with high-fat diet by improving the disorder of metabolic gene expression and inflammation in the adipose and liver tissue， as well as neuroinflammation in the brain. Our study suggests that the food additive propionate combined with a high-fat diet may be harmful to organismal health. As a natural drug， TFs have the potential to alleviate insulin resistance induced by propionate combined with high-fat diet.

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A Collision Avoidance Path Planning Method for 7-DOF Space Manipulator

A Collision Avoidance Path Planning Method for 7-DOF Space M...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Han, Xu Yang, Guocai Jin, Minghe Wang, Qi Harbin Institute of Technology State Key Laboratory of Robotics and System Heilong Jiang Harbin China Military Representative Office of the Equipment Department of the Aerospace Systems Department Changchun China

ISBN: (纸本)9798350325706

This paper proposes a collision avoidance path planning approach for redundant robotic arms based on the RRT algorithm. The study focuses on a 7-DOF robotic arm with an SSRMS configuration. The method involves improved RRT-based path planning in configuration space (C-space) and collision detection in Cartesian space. The results of collision detection are employed to guide the path planning process. Emulating the SSRMS configuration robotic arm, a kinematic model is established. By enhancing the RRT algorithm with the following points: probabilistic sampling towards the target configuration, guided exploration near existing tree nodes, parent node reassignment for new nodes, and the adoption of a bidirectional searching tree, the randomness of sampling is reduced and the planning process is accelerated. By continuously mapping points on the surface of the arm to both the base coordinate system and the self-collision coordinate system, collision detection and self-collision detection are performed in the Cartesian space using a combination of surface equations and projection methods. Finally, a series of simulation experiments were conducted to analyze the impact of various parameters, different obstacles and different methods on the planning process. This validation confirmed the feasibility and effectiveness of the approach. © 2023 IEEE.

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