摘要：In the past few decades,robotics research has witnessed an increasingly high interest in miniaturized,intelligent,and integrated *** imperative component of a robot is the actuator that determines its *** traditional rigid drives such as motors and gas engines have shown great prevalence in most macroscale circumstances,the reduction of these drives to the millimeter or even lower scale results in a significant increase in manufacturing difficulty accompanied by a remarkable performance *** robots driven by living cells can be a potential solution to overcome these drawbacks by benefiting from the intrinsic microscale self-assembly of living tissues and high energy efficiency,which,among other unprecedented properties,also feature flexibility,self-repair,and even multiple degrees of *** paper systematically reviews the development of biohybrid ***,the development of biological flexible drivers is introduced while emphasizing on their advantages over traditional ***,up-to-date works regarding biohybrid robots are reviewed in detail from three aspects:biological driving sources,actuator materials,and structures with associated control ***,the potential future applications and major challenges of biohybrid robots are explored.

摘要：Owing to their excellent mechanical flexibility, electrical conductivity, and biocompatibility, conductive hydrogels(CHs) are widely used in the fields of energy and power, and biomedical technology. To arrive at a better understanding of the design methods and development trends of CHs, this paper summarizes and analyzes related research published in recent years. First,we describe the properties and characteristics of CHs. Using Scopus, the world’s largest abstract and citation database, we conducted a quantitative analysis of the related literature from the past 15 years and summarized development trends in the field of CHs. Second, we describe the types of CH network crosslinking and basic functional design methods and summarize the three-dimensional(3D) structure-forming methods and conductive performance tests of CHs. In addition, we introduce applications of CHs in the fields of energy and power, biomedical technology, and others. Lastly, we discuss several problems in current CH research and introduce some prospects for the future development of CHs.

摘要：在中华人民共和国成立后的第一代雕塑家中,陈启南是重要的领军人物之一。其既致力于雕塑创作的探索,亦未懈怠于雕塑教育的践行。在创作上,他既注重雕塑技艺的锤炼,也强调对艺术内涵的深入挖掘,展现了其对艺术的执著追求和对生活的深刻洞察。在教育上,他为陕西雕塑艺术的发展奠定了重要基础,其教学理念激励着后来的雕塑艺术家们,为中国雕塑艺术事业书写新的篇章。

摘要：为了拓展六自由度平台的可达空间,提出了计及安装角参数的虎克铰干涉计算方法。根据虎克铰与相邻结构之间的位姿关系,对上、下铰座分别建立了计及安装角的虎克铰转角计算模型。采用仿真法求解了斜棱柱虎克铰的转角范围,拟合了描述虎克铰工作空间的非参数模型,建立了斜棱柱虎克铰干涉判定条件。通过分析动平台平动轨迹,探讨了铰座运动与安装角之间的变化规律。将虎克铰的干涉计算与六自由度平台的运动学反解结合,通过动平台在极限位置的运动试验,验证了虎克铰干涉计算模型在拓展六自由度平台极限位姿中的有效性。

摘要：Calculating the flow coefficient of a spool-valve is complicated due to the coupling–throttling effect in the throttling grooves of a proportional–directional *** this paper,a methodology for expressing the flow coefficient of coupled throttling grooves is proposed to resolve that *** this purpose,an approach of a 3 D numerical simulation and an experimental bench were introduced based on the prototype of a commercial proportional *** results show consistency between the numerical simulation and the bench *** on that,the concept of‘saturation limit’is introduced to describe the value gap between the current and saturated flows,so that the flow-coefficient saturation limit of the prototype in the process can be ***,an approximate flow coefficient suitable for coupled throttling grooves within finite variable space,which is based on three typical throttling structures(i.e.O-shape,U-shape,and C-shape)of the coupled throttling grooves,is obtained based on an orthogonal *** model results are consistent with the numerical and experimental results,with maximum errors of less than 5.29%and 5.34%,*** suggests that the proposed method is effective in approximating the flow coefficient.

摘要：研究欺骗攻击影响下的区间二型T-S模糊系统的高效模型预测控制(efficient model predictive control,EMPC)问题.考虑到数据从传感器节点传输到控制器节点受到欺骗攻击的影响,设计一种EMPC框架下基于状态观测器的输出反馈控制器.首先,针对能量有界的欺骗攻击,构建辅助优化问题,离线求解终端约束集以及满足系统H2安全的固定反馈控制增益和观测器增益;其次,引入摄动量提供控制自由度,离线求解增广系统的不变集,通过最大化该不变集在原状态空间的投影得到初始可行域;然后,在线优化摄动量得到满意的控制律,确保系统在欺骗攻击影响下的安全性;最后,给出所提出的EMPC算法理论可行性和系统安全性的证明,并通过仿真实例验证所提出算法的有效性.

摘要：加氢站作为氢能产业终端应用的重要基础设施,是“双碳”背景下推广氢能布局的关键环节。现有加氢站的建造和设计过程中存在不合理和不符合产业发展的现象。从反向监测氢气纯度控制、加氢站冷却系统节能控制、站内制氢加氢一体化节能减排优化、氢气压缩机节能等多个方面对加氢站的节能减排和降本增效提出优化措施,为后续加氢站的设计和建造进一步优化提供合理建议。

摘要：针对影响多臂抓取稳定性的接触力不平衡和接触振动问题,提出多臂空间机器人力分配和柔顺控制策略.首先,分析满足多臂稳定抓取的力学条件,基于摩擦锥约束设计抓取力安全系数,并将其引入力优化模型进行抓取力分配,实现目标物体稳定抓取条件下受力最小;然后,分析抓取过渡过程的振动成因,设计基于动能消耗的末端输出力控制策略实现快速振动抑制和柔顺抓取;最后,设计机械臂末端控制律切换策略,一旦在抓取过渡过程中发生接触脱离可引导其快速返回物体表面.仿真结果表明,所提出方法提升了稳定抓取安全裕度,显著降低了机械臂末端的振动幅值、持续时间和接触力,提升了空间机器人多臂抓取目标操作的稳定性和柔顺性.

摘要：针对现有换热站并联水泵优化算法在集中式架构下控制适应性不足的问题,本文提出了一种改进的分布式并联水泵优化算法.首先,建立了并联水泵的分布式控制系统,并对该优化问题的数学模型进行描述,在目标函数中引入自适应非线性因子;然后,设计了改进的分布式果蝇优化算法,在该算法中每台水泵的控制器仅通过与邻居控制器交互信息即可完成并联水泵的优化;并且,在嗅觉搜索阶段,使用正弦余弦策略替代赋予个体距离与方向的随机策略;最后,以两个实际换热站中不同并联水泵系统为例对算法进行仿真验证,并基于仿真结果进行性能分析.结果表明,相较于传统算法,改进的分布式果蝇优化算法能得到更优的控制策略,有着收敛速度快、稳定性好和鲁棒性强的特点;并且该算法适用于不同系统的并联水泵优化问题,具有可扩展性.在实际工程验证中相较于集中式算法,该算法在总功率和计算时间上分别平均降低了5.47%和29.90%,因此,能够满足实际换热站中对并联水泵热负荷优化分配的需求.

摘要：针对大规模风电接入带来的系统调频能力不足和调频能量透支引发的频率二次跌落问题,提出一种多风电场动态差异化时序协同的频率支撑控制策略。首先,阐述综合惯量控制下的风电调频原理,基于能量守恒理论分析频率响应阶段风电场群的动能变化过程,揭示多风电场调频时序对调频效果的影响机理。然后,考虑多风电场群同时调频引发的频率二次跌落风险,从场站交互视角逆向设计风电场群调频时序和任务分工,并依据风电实时调频能力动态调整投入顺序,以保证初期过程惯量安全需求,并提升频率最低点、抑制风电场群退出调频导致的系统频率严重二次跌落。最后,通过3机9节点测试系统和某实际电网算例对所提控制策略进行仿真分析,结果验证了所提策略的有效性和实用性。