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Dynamic Compliance and its Compensation Control of HIVC Force Control System
Kai-xian Ba,Bin Yu,Wen-feng Li,Dong-kun Wang,Ya-liang Liu,Guo-liang Ma,Xiang-dong Kong 대한전기학회 2018 Journal of Electrical Engineering & Technology Vol.13 No.2
In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamiccompliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.
Dynamic Compliance and its Compensation Control of HIVC Force Control System
Ba, Kai-xian,Yu, Bin,Li, Wen-feng,Wang, Dong-kun,Liu, Ya-liang,Ma, Guo-liang,Kong, Xiang-dong The Korean Institute of Electrical Engineers 2018 Journal of Electrical Engineering & Technology Vol.13 No.2
In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.
Chen, Xian-Kai,Kim, Dongwook,Bré,das, Jean-Luc American Chemical Society 2018 Accounts of chemical research Vol.51 No.9
<P><B>Conspectus</B></P><P>Since the seminal work of Tang and Vanslyke in 1987 on small-molecule emitters and that of Friend and co-workers in 1990 on conjugated-polymer emitters, organic light-emitting diodes (OLEDs) have attracted much attention from academia as well as industry, as the OLED market is estimated to reach the $30 billion mark by the end of 2018. In these first-generation organic emitters, on the basis of simple spin statistics, electrical excitation resulted in the formation of ∼25% singlet excitons and ∼75% triplet excitons. Radiative decay of the singlet excitons to the singlet ground state leads to a prompt fluorescence emission, while the triplet excitons only lead to weak phosphorescence due to the very small spin-orbit couplings present in purely organic molecules. The consequence is a ca. 75% energy loss, which triggered wide-ranging efforts to try and harvest as many of the triplet excitons as possible. In 1998, Thompson, Forrest, and their co-workers reported second-generation OLED emitters based on coordination complexes with heavy transition metals (e.g., iridium or platinum). Here, the triplet excitons stimulate efficient and fast phosphorescence due to the strong spin-orbit couplings enabled by the heavy-metal atoms. Internal quantum efficiencies (IQE) up to 100% have been reported, which means that for every electron injected into the device, a photon is emitted. While these second-generation emitters are those mainly exploited in current OLED applications, there is strong impetus from both cost and environmental standpoints to find new ways of exploiting purely organic emitters, which in addition can offer greater flexibility to fine-tune the electronic and optical properties by exploiting the synthetic organic chemistry toolbox.</P><P>In 2012, Adachi and co-workers introduced a promising strategy, based on thermally activated delayed fluorescence (TADF), to harvest the triplet excitons in purely organic molecular materials. These materials now represent the third generation of OLED emitters. Impressive photophysical properties and device performances have been reported, with internal quantum efficiencies also reaching nearly 100%.</P><P>Our objectives in this Account are threefold: (i) to lay out a comprehensive description, at the molecular level, of the fundamental photophysical processes behind TADF emitters; (ii) to discuss some of the challenges facing the design of TADF emitters, such as the need to balance the efficiency of thermal activation of triplet excitons into the singlet manifold with the efficiency of radiative transition to the ground state; and (iii) to highlight briefly some of the recent molecular-design strategies that pave the way to new classes of TADF materials.</P> [FIG OMISSION]</BR>
Trichoderma biodiversity in major ecological systems of China
Kai Dou,Jinxin Gao,Chulong Zhang,Hetong Yang,Xiliang Jiang,Jishun Li,Yaqian Li,Wei Wang,Hongquan Xian,Shigui Li,Yan Liu,Jindong Hu,Jie Chen 한국미생물학회 2019 The journal of microbiology Vol.57 No.8
An investigation of Trichoderma biodiversity involving a large-scale environmental gradient was conducted to understand the Trichoderma distribution in China. A total of 3,999 isolates were isolated from forestry, grassland, wetland and agriculture ecosystems, and 50 species were identified based on morphological characteristics and sequence analysis of genetic markers. Trichoderma harzianum showed the largest proportion of isolates and the most extensive distribution. Hypocrea semiorbis, T. epimyces, T. konilangbra, T. piluliferum, T. pleurotum, T. pubescens, T. strictipilis, T. hunua, T. oblongisporum and an unidentified species, Trichoderma sp. MA 3642, were first reported in China. Most Trichoderma species were distributed in Jilin and Heilongjiang Provinces in northeast China and the fewest were distributed in Qinghai Province. Based on the division of ecological and geographic factors, forestry ecosystems and low-altitude regions have the greatest species biodiversity of Trichoderma.
Xian-Ju Huang,Hong-Xiao Zhang,Huili Wang,Kai Xiong,Ling Qin,Honglin Liu 한국분자세포생물학회 2014 Molecules and cells Vol.37 No.4
Myostatin represses muscle growth by negatively regulating the number and size of muscle fibers. Myostatin loss-of-function can result in the double-muscling phenotype and increased muscle mass. Thus, knockout of myostatin gene could improve the quality of meat from mammals. In the present study, zinc finger nucleases, a useful tool for generating gene knockout animals, were designed to target exon 1 of the myostatin gene. The designed ZFNs were introduced into porcine primary fibroblasts and early implantation embryos via electroporation and microinjection, respectively. Mutations around the ZFNs target site were detected in both primary fibroblasts and blastocysts. The proportion of mutant fibroblast cells and blastocyst was 4.81% and 5.31%, respectively. Thus, ZFNs can be used to knockout myostatin in porcine primary fibroblasts and early implantation embryos.
Wang, Xian-Yu,Wang, Songhu,Hinse, Tobias C.,Li, Kai,Wang, Yong-Hao,Laughlin, Gregory,Liu, Hui-Gen,Zhang, Hui,Wu, Zhen-Yu,Zhou, Xu,Zhou, Ji-Lin,Hu, Shao-Ming,Wu, Dong-Hong,Peng, Xi-Yan,Chen, Yuan-Yuan Astronomical Society of the Pacific 2018 Publications of the Astronomical Society of the Pa Vol.130 No.988
Phenylpropanoids and Lignanoids from Euonymus acanthocarpus
Jia Xian Zhu,Hui Zi Jin,Jie Ren,Jiang Jiang Qin,Xiangrong Cheng,Qi Zeng,Fei Zhang,Shi Kai Yan,Wei Dong Zhang 대한약학회 2012 Archives of Pharmacal Research Vol.35 No.10
A new phenylpropanoid derivative (1), along with five phenylpropanoids (2-6), two monoepoxy lignans (8-9), one bisepoxy lignan (10), two cyclolignans (11-12), six neolignans (7, 13-17), two mixed lignan-neolignans (18-19), two lignan glycosides (20-21), and four flavonolignans (22-25), were isolated from the stems and twigs of Euonymus acanthocarpus. Compounds 2-3, 6-8, 12,and 14-25 were obtained from Celastraceae family for the first time, and compounds 5 and 9 were isolated from Euonymus genus for the first time. All the compounds were tested for cytotoxicity against SK-OV-3 and MCG-803 human tumor cell lines. Compounds 3, 10, 12, and 18 showed weak cytotoxicity against SK-OV-3 cell line, and compounds 3-4, 10-13, and 19 showed weak cytotoxicity against MCG-803 cell line.
Huang, Xian-Ju,Zhang, Hong-Xiao,Wang, Huili,Xiong, Kai,Qin, Ling,Liu, Honglin Korean Society for Molecular and Cellular Biology 2014 Molecules and cells Vol.37 No.4
Myostatin represses muscle growth by negatively regulating the number and size of muscle fibers. Myostatin loss-of-function can result in the double-muscling phenotype and increased muscle mass. Thus, knockout of myostatin gene could improve the quality of meat from mammals. In the present study, zinc finger nucleases, a useful tool for generating gene knockout animals, were designed to target exon 1 of the myostatin gene. The designed ZFNs were introduced into porcine primary fibroblasts and early implantation embryos via electroporation and microinjection, respectively. Mutations around the ZFNs target site were detected in both primary fibroblasts and blastocysts. The proportion of mutant fibroblast cells and blastocyst was 4.81% and 5.31%, respectively. Thus, ZFNs can be used to knockout myostatin in porcine primary fibroblasts and early implantation embryos.
Wang, Yuan-Kai,Yan, Ya-Xian,Kim, Hyeun Bum,Ju, Xianghong,Zhao, Song,Zhang, Keshan,Tzipori, Saul,Sun, Xingmin TaylorFrancis 2015 Human Vaccines & Immunotherapeutics Vol.11 No.9
<P><I>Clostridium difficile</I> is the major cause of hospital-acquired infectious diarrhea and colitis in developed countries. The pathogenicity of <I>C. difficile</I> is mainly mediated by the release of 2 large potent exotoxins, toxin A (TcdA) and toxin B (TcdB), both of which require neutralization to prevent disease occurrence. We have generated a novel chimeric protein, designated mTcd138, comprised of the glucosyltransferase and cysteine proteinase domains of TcdB and the receptor binding domain of TcdA and expressed it in <I>Bacillus megaterium</I>. To ensure that mTcd138 is atoxic, 2 point mutations were introduced to the glucosyltransferase domain of TcdB, which essentially eliminates toxicity of mTcd138. Parenteral immunizations of mice and hamsters with mTcd138 induced protective antibodies to both toxins and provided protection against infection with the hyper-virulent <I>C. difficile</I> strain UK6.</P>