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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Yu, Xinkai Gao, Yongzhuo Dong, Wei Li, Mingyang Liu, Huajian Wang, Chao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

The demand for mobile manipulator in the military field is strong, but there is no product that can achieve autonomous grasping in a cluttered environment. In this paper, a target-driven grasp pose detection algorithm is proposed, which can be used to detect the grasp pose of a specified target object in a cluttered environment. After that, based on the lightweight requirements of the military, a mobile manipulator platform is built, and the forward and inverse kinematics model of the mobile manipulator is established. At the same time, a vehicle-arm coordination algorithm is designed to make the grasping efficiency higher. Finally, we use the mobile manipulator to perform autonomous grasping in a cluttered environment to verify the system functionality. © 2022 IEEE.

关键词： Manipulators

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Design of Angle-stable and High-transmittance Frequency Selective Rasorber Based on Bilateral Connected Interdigital Resonator

Design of Angle-stable and High-transmittance Frequency Sele...

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Xu, Yixuan Shi, Tongtong Hu, Xueyi Yan, Yuchen Wu, Weiwei National University of Defense Technology State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System Changsha China

ISBN: (纸本)9798350375909

This paper presents a novel frequency selective rasorber (FSR) design with a highly transparent window. FSR is a two-dimensional periodic structure consisting of a lossless FSS layer, an air layer, and a lossy resistive thin layer. The lossless bandpass layer consists of a bimetallic square ring. It provides a bandpass response with double transmission zeros by parallel resonance. The impedance layer consists of bilaterally connected interdigital resonator (BCIR) and crossed metal wires loaded with resistors. Among them, the BCIR can produce parallel resonance. When the lossless layer coincides with the parallel resonance frequency of the lossy layer, the FSR can produce a high transmittance window. The whole structure can produce a frequency response with low-frequency absorption and high-frequency transmission. The simulation results show that the structure has almost the same response under both TM and TE polarization conditions. the reflection coefficient of the FSR in the band of 5.03-11.61 GHz under TE polarization is below -10 dB. The transmission coefficient of the FSR in the 8.57-9.73 GHz band is higher than -3 dB, where the minimum insertion loss of the transmission window can reach -0.00652 dB near 9.12 GHz. Meanwhile, the FSR has good angular stability up to 40° angle of incidence. Finally, the equivalent circuit model (ECM) of FSR is also presented. © 2024 IEEE.

关键词： Equivalent circuits

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Copper-catalyzed photoredox 1,4-amidocyanation of 1,3-enynes with N-amidopyridin-1-ium salts and TMSCN:Facile access toα-amido allenyl nitriles

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Chinese Chemical Letters 2024年第11期35卷 344-348页

作者： Liangfeng Yang Liang Zeng Yanping Zhu Qiuan Wang Jinheng Li State Key Laboratory of Chemo/Biosensing and Chemometrics Hunan UniversityChangsha 410082China State Key Laboratory Base of Eco-Chemical Engineering College of Chemical EngineeringQingdao University of Science and TechnologyQingdao 266042China School of Pharmacy Key Laboratory of Molecular Pharmacology and Drug EvaluationMinistry of EducationCollaborative Innovation Center of Advanced Drug Delivery System and Biotech Drugs in Universities of ShandongYantai UniversityYantai 264005China State Key Laboratory of Applied Organic Chemistry Lanzhou UniversityLanzhou 730000China

A new 1,4-amidocyanation of 1,3-enynes with N-amidopyridin-1-ium salts and TMSCN using a copper and photoredox synergetic catalysis for producingα-amido allenyl nitriles is *** N-amidopyridin-1-ium salts as the amidyl radical precursors,the reaction enables the formation of two new bonds,one C(sp^(3))-N bond and one C(sp^(2))-C(sp)bond,in a single reaction *** reaction represents a mild,general route to the construction of theα-amido allenyl nitrile architectures,which characterizes a broad scope,a good functional group compatibility and an excellent selectivity.

关键词： Copper Photoredox catalysis Amidocyanation N-(Sulfonamido)pyridin-1-ium salts 1,3-Enynes α-Sulfonamido allenyl nitriles

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Cold sintering process for fabrication of a superhydrophobic ZnO-polytetrafluoroethylene(PTFE)ceramic composite

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Journal of Advanced Ceramics 2023年第9期12卷 1758-1766页

作者： Xuetong Zhao Yang Yang Li Cheng Jing Guo Shenglin Kang Yuchen Li Xilin Wang Lijun Yang Ruijin Liao State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqing 400044China State Key Laboratory for Mechanical Behavior of Materials Xi’an Jiaotong UniversityXi’an 710049China Engineering Laboratory of Power Equipment Reliability in Complicated Coastal Environments Tsinghua Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055China

Composite coatings or films with polytetrafluoroethylene(PTFE)are typically utilized to offer superhydrophobic ***,the superhydrophobic surfaces usually have limited durability and require complicated fabrication ***,we report the successful integration of PTFE with ZnO ceramics to achieve superhydrophobicity via a one-step sintering method,cold sintering process(CSP),at 300℃.(1–x)ZnO–x PTFE ceramic composites with x ranging from 0 to 70 vol%are densified with relative density of over 97%.Micro/nano-scale PTFE polymer is dispersed among ZnO grains forming polymer grain boundary phases,which modulate surface morphology and surface energy of the ZnO–PTFE ceramic *** the 60 vol%ZnO–40 vol%PTFE ceramic composite,superhydrophobic properties are optimized with static water contact angles(WCAs)and sliding angles(SAs)of 162°and 7°,*** abrading into various thicknesses(2.52,2.26,and 1.99 mm)and contaminating with graphite powders on the surface,WCA and SA are still maintained with a high level of 157°–160°and 7°–9.3°,*** work indicates that CSP provides a promising pathway to integrate polymers with ceramics to realize stable superhydrophobicity.

关键词： cold sintering process(CSP) ZnO-polytetrafluoroethylene(PTFE)ceramic composites contact angles sliding angles(SAs) superhydrophobicity

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Cryogenic Electrical Tree Characteristics of Epoxy Resin for HTS Power Equipment under DC/Impulse Superimposed Voltage

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IEEE Transactions on Dielectrics and Electrical Insulation 2024年第3期32卷 1422-1431页

作者： Xing, Yunqi Xiao, Kunran Zhao, Yuqiang Huang, Rongjin Zheng, Jingquan Hebei University of Technology State Key Laboratory of Reliability and Intelligence of Electrical Equipment Tianjin300131 China Bingtuan Xingxin Vocational and Technical College Urumqi830074 China Chinese Academy of Sciences Key Laboratory of Cryogenic Science and Technology Technical Institute of Physics and Chemistry Beijing100190 China North China Electric Power University State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Beijing102206 China

Epoxy resin for current lead insulation in superconducting equipment offers advantages such as low costs, high chemical stability, and excellent electrical and insulation properties. However, during operation, the combined effects of complex voltage and a wide temperature range from room temperature to 77 K can easily induce partial discharge, leading to insulation faults and posing a threat to the safety and stability of the power system. In this work, we conducted electrical tree tests on bisphenol F epoxy resin to investigate the influence of environmental temperature, voltage forms, impulse frequency, and other factors on the inception and growth characteristics of electrical tree. The results indicate that low temperature can effectively inhibit the inception and growth of electrical tree in epoxy resin. Continuous DC voltage application affects traps, making superimposed voltage more likely to promote electrical tree growth than a single impulse voltage at 300 K. The impulse voltage component dominates in the superimposed voltage, and its polarity significantly affects electrical tree characteristics, though the mechanisms differ. Additionally, the form of voltage superposition influences electrical tree characteristics. The promotion effect of heteropolar superposition voltage on electrical tree is slightly lower than that of homopolar superposition voltage, but the influence is not as obvious as that of positive and negative polarity. © 1994-2012 IEEE.

关键词： Chemical equipment

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Frequency-phase composite modulation-based waveform design for detecting and jamming integrated signal 6

Frequency-phase composite modulation-based waveform design f...

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6th International Conference on Intelligent Control, Measurement and Signal Processing, ICMSP 2024

作者： Guo, Haoting Chang, Cui Wang, Fulai Pang, Chen Li, Yongzhen National University of Defense Technology State Key Laboratory of Complex Electromagnetic Environment Effects on Electronic and Information System Changsha China

ISBN: (纸本)9798331516550

In the field of multifunctional radar waveform design, this paper proposes an integrated waveform design method for detecting and jamming, which is by the composite modulation of intra-pulse FM signals (non-linear frequency modulation (NLFM) and polyphase coded FM (PCFM) signals) and inter-pulse phase modulation signals. In this paper, two different modulation schemes are described in detail and a mathematical model of the integrated signals is developed. In addition, an objective function for evaluating the comprehensive performance of the detecting and jamming integrated signal is proposed in this paper. Simulation experiments verify that the proposed integrated signal can effectively suppress jamming on the non-cooperative radar while maintaining excellent detection performance, and exhibiting noise-like characteristics in the frequency band, thus reducing the probability of being intercepted by the non-cooperative radar. Based on the evaluation of the proposed objective function, the integrated signal in this paper surpasses some of the integrated signals proposed by domestic scholars in terms of comprehensive performance. It provides new theoretical and technological support for the design of integrated signals of multifunctional radar. © 2024 IEEE.

关键词： Jamming

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A Pilot Study on Fabric-based Pneumatic Soft Gloves for Assisting Patients with Severe Brachial Plexus Injury

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IEEE Transactions on Biomedical Engineering 2025年 PP卷 PP页

作者： Feng, Miao Yang, Dezhi Sun, Jianing Lao, Jie Rui, Jing Gu, Guoying Shanghai Jiao Tong University Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai200240 China Southwest Technology and Engineering Research Institute Chongqing400039 China Fudan University Department of Hand Surgery Huashan Hospital China NHC Key Laboratory of Limbs Reconstruction Shanghai Key Laboratory of Peripheral Nerve and Microsurgery Shanghai200040 China

Objective: Robotic gloves show promise in hand assistance due to their wearability and home-based potential, yet empirical research remains limited. This pilot study presents a fabric-based pneumatic soft glove, aiming to identify its potential and challenges in clinical practice by evaluating its effectiveness in assisting patients with severe brachial plexus injury (BPI). Methods: The glove integrates a thumb abduction actuator and four bidirectional fabric-based pneumatic actuators (FPAs) with asymmetric chambers for high output force. Sixteen healthy volunteers and five individuals with BPI, all of whom lacked active hand and wrist movements, were recruited. Participants performed object grasping across 25 cm. The healthy group performed seven tasks using objects weighing up to 2 kg, with muscle activities recorded for analysis. The BPI group further performed tasks with eight objects from the action research arm test (ARAT) and twelve objects for activities of daily living (ADLs), encompassing various sizes, weights, and geometries. Results: In the healthy group, sEMG showed a decrease in 89.3% of trials, with 56.0% of these decreases being significant (p © 1964-2012 IEEE.

关键词： Pneumatic actuators

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Study on imaging quality of intrapulse intermittent modulation jamming technology based on metasurface 4

Study on imaging quality of intrapulse intermittent modulati...

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4th International Conference on Sensors and Information technology, ICSI 2024

作者： Zhu, Liwen Wang, Junjie Feng, Dejun State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System National University of Defense Technology Changsha China

ISBN: (数字)9781510678699

ISBN: (纸本)9781510678682

Passive jamming technology based on metasurface is a hot topic in the field of electronic countermeasures. Currently, the existing research mainly focuses on the feasibility of false target deception from the level of jamming technologies. However, the effect of false target deception has not been given attention. For SAR jamming methods, the imaging quality of false targets will directly affect the deception effect of the image, which also determines the effectiveness of the jamming method. In this paper, a passive jamming method for intrapulse intermittent modulation by metasurface is studied. This method uses metasurface to perform intrapulse intermittent modulation of SAR-emitted radar signals. By calculating the imaging indicators such as resolution and sidelobe ratio of the pseudo-target imaging effect, the deception effect of the jamming method on the SAR system using the RD imaging processing algorithm is analyzed. As the order and intermittent modulation frequency of the false target increase, the quality indicators such as the resolution and sidelobe ratio of the false target will gradually decrease. Simulation experiments verify the correctness of the research conclusions. © 2024 SPIE.

关键词： Synthetic aperture radar

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An equivalent modeling method for integrated water-wind-solar systems based on sparrow search algorithm

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Energy Informatics 2025年第1期8卷 1-16页

作者： Lu, Yuanhong Zhang, Jie Zhang, Jingyue Huang, Libin Guo, Haiping Hu, Binjiang Guo, Tianyu State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou510663 China National Energy Power Grid Technology R & D Centre Guangzhou510663 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou510663 China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou510663 China

In the context of extensive integration of renewable energy sources into the electrical grid, the grid's fault transient behaviors have undergone significant changes. However, conventional single-unit equivalent models fail to accurately capture the fault transient responses of combined wind-solar-hydro power stations and often require substantial computational resources, leading to reduced simulation efficiency. This study proposes a cluster-based equivalent modeling approach for hybrid wind-solar-hydro power plants using the Sparrow Search Algorithm. key factors influencing fault characteristics, including the distance to the Point of Common Coupling, DC-side current-limiting measures, irradiance levels, water flow rates, wind speeds, and reactive power at the outlet, are identified and used to construct a transient model. Euclidean distances are computed for these factors, and initial clustering centers for wind turbines are determined using an improved max–min distance technique. These factors and clustering centers serve as the training dataset to establish the clustering equivalent model. Simulation results, conducted on the MATLAB2022 platform, demonstrate that the SSA-based model outperforms the single-unit equivalent model by over 150 times in terms of accuracy. Additionally, the SSA-based model achieves a delay time, defined as the time required to compute the system's transient response after a fault, of less than 5 ms, which is less than one-twentieth of the delay time of the single-unit equivalent model. These improvements highlight the model's ability to accurately capture dynamic power responses under various disturbances, making it highly suitable for real-time applications in hybrid renewable energy systems. © The Author(s) 2025.

关键词： MATLAB

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A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated Control system

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Research 2021年第1期2021卷 1266-1273页

作者： Pengchun Li Yongchang Zhang Guangyu Zhang Dekai Zhou Longqiu Li State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbinHeilongjiang 150001China

Tip-extending soft robots,taking flexible film or rubber as body material and fluid pressure as input power,exhibit excellent advantages in constrained and cluttered environments for detection and ***,existing soft continuum robots are of great challenges in achieving multiple,mutually independent,and on-demand active steering over a long distance without precise steering *** this paper,we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three ***,steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided,and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is *** demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained *** is established that the robot exhibits great advantages in active consecutive steering over a long distance,high controllability in completing more complex path planning,and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle *** bionic soft robot shows great promise for use in environment sensing,target detecting,and equipment servicing.

关键词： robot Robot obstacle

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