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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 8-8 doi: 10.1007/s11465-021-0664-0

摘要： With the widespread application of legged robot in various fields, the demand for a robot with high locomotion and manipulation ability is increasing. Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability. Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra arm. The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition. The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case. For the fixed coordinated clamping case, the degrees of freedom (DOFs) analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are established. For the fixed coordinated shearing case, the coordinated working space is determined, and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task. In addition, the constraint analysis of two adjacent integrated limbs is performed. Then, mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition, including gait switching analysis between hexapod gait and pentapod gait, different pentapod gaits analysis, and a complex six-DOF manipulation while walking. Corresponding experiments are implemented, including clamping tasks with two integrated limbs, coordinated shearing task by using two integrated limbs, and mobile manipulation with pentapod gait. This robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg–arm integration     hexapod robot     fixed coordinated manipulation     mobile manipulation    

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The Routine and Emergency Coordinated Management of Public Security

Ning Liu

《工程管理前沿（英文）》 2015年 第2卷 第4期   页码 331-338 doi: 10.15302/J-FEM-2015063

摘要： The paper presents a study based on the observation of public security programme situations. Nowadays, public security management is faced with challenges such as the increase in non-traditional safety threats, high occurrence probability, obvious complex chain reactions, high security demand, vulnerable bearing systems and world-wide influences. For the new adapted requirements of public security management, this paper puts forward the concept of the coordinated routine and emergency management, which combines the routine management at normal status and the emergency management at the abnormal status based on the whole process of public security management. This paper analyzes the coordinated management system and establishes the decision-making objectives, decision-making model and constraints. In addition, this paper proposes the basic strategy of achieving the coordinated management of public security.

关键词： public security     routine management     emergency management     coordinated management    

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Hongshiyan Landslide Dam Danger Removal and Coordinated Management

Ning Liu

《工程管理前沿（英文）》 2014年 第1卷 第3期   页码 308-317 doi: 10.15302/J-FEM-2014041

摘要： This paper takes an overview of the Hongshiyan landslide dam triggered by an earthquake near Ludian County in Zhaotong City, Yunnan Province, introduces how the danger removal plan is drafted and implemented, and analyzes the outcome of its implementation. The paper then explains the significance and effect of coordinated management in the event of natural disasters and other public safety emergencies, and discusses ways to improve coordinated management.

关键词： the Zhaotong Ludian earthquake     danger removal of the landslide dam     coordinated management    

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Dynamic Coordinated Management Model of Programme in Large-Scale Construction Company

Feng Guo,Yi-qi Chen,Yi-qing Cai

《工程管理前沿（英文）》 2015年 第2卷 第3期   页码 287-292 doi: 10.15302/J-FEM-2015041

摘要： Large-scale construction companies develop rapidly when facing more and more opportunities and challenges of programme contracting. However, project management technology, not meeting the requirements of firm growth, still stands proud, while relevant programme management methods have not been well studied. Therefore, this paper commences innovative application of coordinated management theory to programme management according to the need of changing the existing management mode in large-scale construction companies, then puts forward the dynamic coordinated management model composed of the dynamic coordination of function module, interface module, support module and evaluation module. Besides, coordination degree was introduced to make auxiliary analysis, so that companies can utilize internal and external resources more effectively to realize the goals of programme management as well as enterprise strategy.

关键词： large-scale construction company     programme     dynamic coordinated management     model    

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基于3D变换电磁学和2D表面电磁学的电磁场操控和天线设计 Review

Peng-fei ZHANG, Yu-kai YAN, Ying LIU, Raj MITTRA

《信息与电子工程前沿（英文）》 2020年 第21卷 第3期   页码 351-365 doi: 10.1631/FITEE.1900489

摘要： 尽管人们已经开发了针对不同类型天线的多种设计技术，如线天线、贴片天线、透镜天线以及反射面等，但尚未构建普适的框架技术——普适框架技术应可用于各种天线的综合与设计，使天线具有满足使用者特定需求的电气特性。近年来，5G通信及各种空天技术、国防应用、生物医疗和类似应用的快速发展，迫切需要天线设计技术的大幅提升。本文从场操控角度剖视天线设计技术，为这种框架性构建提供一个可能的思考，以期最终部分满足这种需求。首先，回顾现有操控技术，包括基于麦克斯韦方程和波动方程在内的场变换方法，指出这些技术的局限性，并提出改善性能的方法。其次，介绍一种基于2D超表面的场操控方法及其理论基础——广义反射和折射定律。进一步，探索如何利用2D超表面克服传统的由临界角严格限制的反射和折射局限性。最后，给出场操控方法在天线设计中的应用实例，以期引导人们发展面向未来通信天线设计的通用策略和方法。

关键词： 场操控；变换光学；天线设计；表面电磁学    

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An Evaluation Model for the Coordinated Development of a Circular Economy in China and Its Application

Ji-liang Zheng,Chen Zheng,Pan Chen,Ching Yuan Luk

《工程管理前沿（英文）》 2014年 第1卷 第4期   页码 364-371 doi: 10.15302/J-FEM-2014053

摘要： Energy-intensive industries (EIIs) are fundamental to the industrial development of China and are also the key industries of a circular economic infrastructure. It is worth paying attention to the coordinated development of a circular economy using EIIs due to the present interrelationship among EIIs. It is related to the optimization and comprehensive performance improvement of a circular economy. Based on the perspective of order parameter, this study uses economic and environmental subsystems to establish an evaluation model that examines the coordinated development of a circular economy within six main EIIs and an EII cluster from 2006 to 2011 in China. The result shows that the level of coordinated development in a circular economy among six EIIs differs and the level of coordinated development of circular economy among the EII cluster lags behind that of each EII examined. It also shows that the outside coordinated degree of EIIs is lower than the inside coordinated degree of each EII.

关键词： order parameter     coordinated degree evaluation     energy-intensive industry     circular economy    

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Enhanced nitrification in integrated floating fixed-film activated sludge (IFFAS) system using novel

Aoshuang Jing, Tao Liu, Xie Quan, Shuo Chen, Yaobin Zhang

《环境科学与工程前沿（英文）》 2019年 第13卷 第5期 doi: 10.1007/s11783-019-1153-0

摘要： Novel carriers with favorable electrophilicity and hydrophilicity were prepared. Novel carriers had the capability of nitrification-enhancing. NH4+-N removal efficiency of IFFAS process rose up to 20% with novel carriers. Nitrosomonadales and Nitrospirales were identified as the functional nitrifiers. The population of Nitrospirales increased by 4.51%. The integrated floating fixed-film activated sludge (IFFAS) process is an ideal preference for nitrification attributing to the longer sludge age for nitrifiers. However, as the core of this process, conventional carriers made of polymer materials usually exhibit negative charge and hydrophobicity on the surface, which is unbeneficial to nitrifying biofilm formation. In this study, novel clinoptilolite composite carriers with favorable hydrophilicity, positive charge and nitrification-enhancing capability were made and implemented in IFFAS system. In comparison with conventional carriers, the novel clinoptilolite composite carriers displayed positive charges on the surface (11.7±1.1 mV, pH 7.0) with increased hydrophilicity (surface contact angle dropped to 76.7°). The novel-carriers-based reactors achieved significantly better NH4+-N removal efficiency at different influent concentrations, dissolved oxygen (DO) levels and shock loads (NH4+-N removal efficiency rose up to 20% comparing with the control reactors filled with polyethylene (PE) carriers or activated sludge). High-throughput sequencing (HTS) results indicated the novel clinoptilolite composite carriers provided favorable niche for more types of bacteria, especially for Nitrosomonadales and Nitrospirales (the functional nitrifiers in the system). The population of Nitrospirales increased by 4.51% by using novel clinoptilolite composite carriers comparing with using PE carriers, which ensured enhanced nitrification process. This study was expected to provide a practical option for enhancing wastewater nitrification performance with the novel clinoptilolite composite carrier.

关键词： Biofilm carrier     Clinoptilolite     Integrated floating fixed-film activated sludge (IFFAS)     Microbial community     Nitrification     Wastewater    

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Selective reduction of NO by photo-SCR with ammonia in an annular fixed-film photoreactor

YiangChen CHOU, Young KU

《环境科学与工程前沿（英文）》 2012年 第6卷 第2期   页码 149-155 doi: 10.1007/s11783-010-0296-9

摘要： Gaseous NO was photocatalytically reduced at room temperature by photo-assisted selective catalytic reduction (photo-SCR) with ammonia over TiO in this study. NO reduction efficiency and N selectivity were determined from gases composition at the outlet stream of photoreactor. Effect of operating conditions, e.g. light intensity and inlet concentrations of ammonia and oxygen, on the NO reduction efficiency and N selectivity were discussed to determine the feasible operating condition for photocatalytic reduction of NO. Experimental results showed that selective catalytic reduction of NO with ammonia over TiO in the presence of oxygen was a spontaneous reaction in dark. The photoirradiation on the TiO surface caused remarkable photocatalytic reduction of NO to form N , NO , and N O under 254 nm UV illuminations, while almost 90% of N selectivity was achieved in this study. The ammonia and oxygen molecules played the roles of reductant and oxidant for NO reduction and active sites regeneration, respectively. The reduction of NO was found to be increased with the increase of inlet ammonia and oxygen concentrations until specific concentrations because of the limited active sites on the surface of TiO . The kinetic model proposed in this study can be used to reasonably describe the reaction mechanism of photo-SCR.

关键词： photo-SCR     photocatalysis     NO reduction     Eley-Rideal model    

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Mass transfer mechanisms in fixed-bed adsorption of erythromycin

SUN Ying, ZHU Jiawen, CHEN Kui, ZHU Sheng, XU Jie

《化学科学与工程前沿（英文）》 2008年 第2卷 第4期   页码 353-360 doi: 10.1007/s11705-008-0076-2

摘要： The equilibrium and kinetic characteristics of the adsorption of erythromycin to Sepabeads SP825 were determined. The equilibrium data in a batch system was well described by a Langmuir isotherm. The separation performance was investigated in a fixed-bed system with respect to the adsorption superficial velocity, ionic strength and pH. A mathematical model was used to simulate the mass transfer mechanism, taking film mass transfer, pore diffusion and axial dispersion into account. The model predictions were consistent with the experimental data and were consequently used to determine the mass transfer coefficients.

关键词： mathematical     diffusion     separation performance     adsorption superficial     mechanism    

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Coordinated shift control of nonsynchronizer transmission for electric vehicles based on dynamic tooth

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 887-900 doi: 10.1007/s11465-021-0653-3

摘要： Multispeed transmissions can enhance the dynamics and economic performance of electric vehicles (EVs), but the coordinated control of the drive motor and gear shift mechanism during gear shifting is still a difficult challenge because gear shifting may cause discomfort to the occupants. To improve the swiftness of gear shifting, this paper proposes a coordinated shift control method based on the dynamic tooth alignment (DTA) algorithm for nonsynchronizer automated mechanical transmissions (NSAMTs) of EVs. After the speed difference between the sleeve (SL) and target dog gear is reduced to a certain value by speed synchronization, angle synchronization is adopted to synchronize the SL quickly to the target tooth slot’s angular position predicted by the DTA. A two-speed planetary NSAMT is taken as an example to carry out comparative simulations and bench experiments. Results show that gear shifting duration and maximum jerk are reduced under the shift control with the proposed method, which proves the effectiveness of the proposed coordinated shift control method with DTA.

关键词： electric vehicle     nonsynchronizer automated mechanical transmission (NSAMT)     planetary gear     coordinated shift control     dynamic tooth alignment    

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微纳操作与表征

Yu Sun, Sergej Fatikow, Xinyu Liu

《工程（英文）》 2023年 第24卷 第5期   页码 1-2 doi: 10.1016/j.eng.2023.04.006

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Distinct gene expression pattern of mutations coordinated by target repression and promoter hypermethylation

《医学前沿（英文）》 2022年 第16卷 第4期   页码 627-636 doi: 10.1007/s11684-020-0815-4

摘要： Runt-related transcription factor 1 (RUNX1) is an essential regulator of normal hematopoiesis. Its dysfunction, caused by either fusions or mutations, is frequently reported in acute myeloid leukemia (AML). However, RUNX1 mutations have been largely under-explored compared with RUNX1 fusions mainly due to their elusive genetic characteristics. Here, based on 1741 patients with AML, we report a unique expression pattern associated with RUNX1 mutations in AML. This expression pattern was coordinated by target repression and promoter hypermethylation. We first reanalyzed a joint AML cohort that consisted of three public cohorts and found that RUNX1 mutations were mainly distributed in the Runt domain and almost mutually exclusive with NPM1 mutations. Then, based on RNA-seq data from The Cancer Genome Atlas AML cohort, we developed a 300-gene signature that significantly distinguished the patients with RUNX1 mutations from those with other AML subtypes. Furthermore, we explored the mechanisms underlying this signature from the transcriptional and epigenetic levels. Using chromatin immunoprecipitation sequencing data, we found that RUNX1 target genes tended to be repressed in patients with RUNX1 mutations. Through the integration of DNA methylation array data, we illustrated that hypermethylation on the promoter regions of RUNX1-regulated genes also contributed to dysregulation in RUNX1-mutated AML. This study revealed the distinct gene expression pattern of RUNX1 mutations and the underlying mechanisms in AML development.

关键词： RUNX1     gene mutation     acute myeloid leukemia     transcriptional repression     DNA methylation    

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Reduction of hexavalent chromium with scrap iron in a fixed bed reactor

Yin WANG, Xuejiang WANG, Xin WANG, Mian LIU, Siqing XIA, Daqiang YIN, Yalei ZHANG, Jianfu ZHAO

《环境科学与工程前沿（英文）》 2012年 第6卷 第6期   页码 761-769 doi: 10.1007/s11783-012-0413-z

摘要： The reduction of hexavalent chromium by scrap iron was investigated in continuous long-term fixed bed system. The effects of pH, empty bed contact time (EBCT), and initial Cr(VI) concentration on Cr(VI) reduction were studied. The results showed that the pH, EBCT, and initial Cr(VI) concentration significantly affected the reduction capacity of scrap iron. The reduction capacity of scrap iron were 4.56, 1.51, and 0.57 mg Cr(VI)·g Fe at pH 3, 5, and 7 (initial Cr(VI) concentration 4 mg·L , EBCT 2 min, and temperature 25°C), 0.51, 1.51, and 2.85 mg Cr(VI)·g Fe at EBCTs of 0.5, 2.0, and 6.0 min (initial Cr(VI) concentration 4 mg·L , pH 5, and temperature 25°C), and 2.99, 1.51, and 1.01 mg Cr(VI)·g Fe at influent concentrations of 1, 4, and 8 mg·L (EBCT 2 min, pH 5, and temperature 25°C), respectively. Fe(total) concentration in the column effluent continuously decreased in time, due to a decrease in time of the iron corrosion rate. The fixed bed reactor can be readily used for the treatment of drinking water containing low amounts of Cr(VI) ions, although the hardness and humic acid in water may shorten the lifetime of the reactor, the reduction capacity of scrap iron still achieved 1.98 mg Cr ·g Fe. Scanning electron microscope equipped with energy dispersion spectrometer and X-ray diffraction were conducted to examine the surface species of the scrap iron before and after its use. In addition to iron oxides and hydroxide species, iron-chromium complex was also observed on the reacted scrap iron.

关键词： hexavalent chromium     scrap iron     reduction capacity     drinking water    

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推进炼油与汽车行业协同发展战略研究

曹湘洪

《中国工程科学》 2019年 第21卷 第3期   页码 61-69 doi: 10.15302/J-SSCAE-2019.03.005

摘要：

电动车、燃料电池车等新能源汽车快速发展开启了汽车动力革命的大幕。内燃机汽车制造行业和油品生产行业通过满足最新排放限值要求、提升油品质量、推进内燃机技术不断进步等积极应对汽车动力革命。新能源汽车优势与劣势并存，短期内不具备全面替代内燃机汽车的条件。采用高效内燃机的油电混合动力汽车可大幅度降低污染物排放和碳排放，是符合我国国情的动力汽车。面向2050 年，内燃机汽车、油电混合动力汽车、燃料电池车、纯电动车等将发挥各自的技术优势，多元共存，但内燃机动力车会占据主体地位，汽车动力对液体燃料的依赖度还将会超过60%。炼油、汽车行业要推进协同发展，从分子层面研究内燃机中燃料的燃烧机理，研究车用燃料组成、馏程与颗粒物排放的关系并开发简化模型、开发并推广高品质燃料及高档润滑油，以适应汽车动力多元化时代新的低碳减排要求。

关键词： 汽车动力革命     内燃机技术     油品质量     协同发展    

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Performance of fixed beam without interacting bars

Aydin SHISHEGARAN, Behnam KARAMI, Timon RABCZUK, Arshia SHISHEGARAN, Mohammad Ali NAGHSH, Mohammreza MOHAMMAD KHANI

《结构与土木工程前沿（英文）》 2020年 第14卷 第5期   页码 1180-1195 doi: 10.1007/s11709-020-0661-0

摘要： Increasing the bending capacity of reinforced concrete (RC) elements is one of important topics in structure engineering. The goal of this study is to develop a transferred stress system (TSS) on longitudinal reinforcement bars for increasing the bending capacity of RC frames. The study is divided into two parts, i.e., experimental tests and nonlinear FE analysis. The experiments were carried out to determine the load-deflection curves and crack patterns of the ordinary and TSS fixed frame. The FE models were developed for simulating the fixed frames. The obtained load-deflection results and the observed cracks from the FE analysis and experimental tests are compared to evaluate the validation of the FE nonlinear models. Based on the validated FE models, the stress distribution on the ordinary and TSS bars were evaluated. We found the load carrying capacity and ductility of TSS fixed beam are 29.39% and 23.69% higher compared to those of the ordinary fixed beams. The crack expansion occurs on the ordinary fixed beam, although there are several crack openings at mid-span of the TSS fixed beam. The crack distribution was changed in the TSS fixed frame. The TSS fixed beam is proposed to employ in RC frame instead of ordinary RC beam for improving the performance of RC frame.

关键词： transferred stress system     bending capacity     crack opening     crack propagation     FE nonlinear model     stress distribution    

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标题 作者 时间 类型 操作

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

期刊论文

The Routine and Emergency Coordinated Management of Public Security

Ning Liu

期刊论文

Hongshiyan Landslide Dam Danger Removal and Coordinated Management

Ning Liu

期刊论文

Dynamic Coordinated Management Model of Programme in Large-Scale Construction Company

Feng Guo,Yi-qi Chen,Yi-qing Cai

期刊论文

基于3D变换电磁学和2D表面电磁学的电磁场操控和天线设计

Peng-fei ZHANG, Yu-kai YAN, Ying LIU, Raj MITTRA

期刊论文

An Evaluation Model for the Coordinated Development of a Circular Economy in China and Its Application

Ji-liang Zheng,Chen Zheng,Pan Chen,Ching Yuan Luk

期刊论文

Enhanced nitrification in integrated floating fixed-film activated sludge (IFFAS) system using novel

Aoshuang Jing, Tao Liu, Xie Quan, Shuo Chen, Yaobin Zhang

期刊论文

Selective reduction of NO by photo-SCR with ammonia in an annular fixed-film photoreactor

YiangChen CHOU, Young KU

期刊论文

Mass transfer mechanisms in fixed-bed adsorption of erythromycin

SUN Ying, ZHU Jiawen, CHEN Kui, ZHU Sheng, XU Jie

期刊论文

Coordinated shift control of nonsynchronizer transmission for electric vehicles based on dynamic tooth

期刊论文

微纳操作与表征

Yu Sun, Sergej Fatikow, Xinyu Liu

期刊论文

Distinct gene expression pattern of mutations coordinated by target repression and promoter hypermethylation

期刊论文

Reduction of hexavalent chromium with scrap iron in a fixed bed reactor

Yin WANG, Xuejiang WANG, Xin WANG, Mian LIU, Siqing XIA, Daqiang YIN, Yalei ZHANG, Jianfu ZHAO

期刊论文

推进炼油与汽车行业协同发展战略研究

曹湘洪

期刊论文

Performance of fixed beam without interacting bars

Aydin SHISHEGARAN, Behnam KARAMI, Timon RABCZUK, Arshia SHISHEGARAN, Mohammad Ali NAGHSH, Mohammreza MOHAMMAD KHANI

期刊论文