Impedance Identification Using Tactile Sensing and Its Adaptation for an Underactuated Gripper Manipulation

Zhong-Yi Chu,Shao-Bo Yan,Jian Hu,Shan Lu 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2

Underactuated gripper has a broad application in the field of space robot and industrial robot because of its better shape-adaptation. However, because of the underactuated characteristics, it is a great challenge to accurately obtain the displacement of the contact point between the finger and grasped object, which makes it difficult to control the gripper grasp stably, especially the environmental parameters are unknown. This paper develops the identification of the unknown environmental parameters using a tactile array sensor based on the recursive leastsquares (RLS) method. The unknown environments are described as linear systems with unknown dynamics, and the environmental parameters are identified using the measured contact force and the derived displacement of the contact point which is obtained through the underactuated gripper dynamics. Meanwhile, an impedance adaptive control is presented to match the variability of the environment parameters, and the desired impedance model is imposed to the underactuated gripper to achieve stable grasp. A cost function that measures the contact force, velocity and displacement error is defined, and the critical impedance parameters are found to minimize it. At last, a co-simulation of ADAMS and MATLAB for an underactuated gripper grasp is implemented to show the feasibility of environmental parameters identification and its adaptive method.

Morphology control of mesoporous Cu₂O by reductants and its photocatalytic activity

Chu, Xiao-Zhong,Cheng, Zhi-Peng,Zhao, Yi-Jiang,Xu, Ji-Ming,Li, Mei-Sheng,Hu, Lei,Zhou, Shou-Yong,Wu, Fei-Yue,Lee, Chang-Ha Elsevier 2017 CERAMICS INTERNATIONAL Vol.43 No.11

<P><B>Abstract</B></P> <P>Mesoporous Cu<SUB>2</SUB>O particles with different morphologies were synthesized via simple one-pot reactions. Effects of reducing agents, dispersant, template, and temperature on the <B>structure</B> of the prepared materials were investigated. Mesoporous flower-shaped Cu<SUB>2</SUB>O materials were obtained at 70℃ using glucose <B>as a reductant</B>. Different hollow microsphere shapes of Cu<SUB>2</SUB>O could be prepared at 40℃ using <B>another type of reductant, ascorbic acid</B>. The results indicated that the uniform morphology of synthesized Cu<SUB>2</SUB>O with mesopores presented a maximum specific surface area of 45.3m<SUP>2</SUP>/g. Furthermore, the as-prepared Cu<SUB>2</SUB>O particles showed good photodegradation efficiencies of methyl orange in the range of 86.0–93.7%, depending on their morphologies.</P>

Cough Inhibition Activity of Schisandra chinensis in Guinea Pigs

Shan Zhong,Li-Ping Bai,Xiao-Dong Liu,Die-Yi Cai,Lee-Fong Yau,Chu-Qin Huang,Jia-Qi Zhang,Ke-Fang Lai,Nan-Shan Zhong 한국식품영양과학회 2021 Journal of medicinal food Vol.24 No.4

Chronic cough is very common in respiratory clinics, and no effective drugs are available. Schisandra chinensis (Turcz.) Baill. (S. chinensis), an important traditional Chinese medicine, has been extensively prescribed for patients with a persistent cough. Preliminary research indicated that 95% ethanol extracts (EE) of S. chinensis showed remarkable antitussive activity in guinea pigs exposed to cigarette smoke (CS). To find out the antitussive ingredients of S. chinensis, EE was divided into four fractions according to the polarity: petroleum ether extract (PEE), ethyl acetate extract (ECE), n-butyl alcohol extract, and residue extract. The antitussive, antioxidant, and anti-inflammatory effects of the four fractions were evaluated in a guinea pig model of cough hypersensitivity induced by CS exposure. Eighteen main constituents of the two effective fractions, PEE and ECE, were identified using ultra-high-pressure liquid chromatography electronic spray ion time-of-flight mass spectrometry. The cough inhibition activities of compound 1, 3, 9, 10, 17 were evaluated on citric acid induced acute cough guinea pigs. The results showed that the antitussive activity of EE was almost all contained in PEE and ECE. The 16 major peaks in PEE were identified as 15 lignans (1–12 and 14–16) and 1 triterpene (compound 13), and 3 major peaks (1, 17, and 18) in ECE were also identified as lignans. Three doses of five compounds brought about a significant decrease in number of cough efforts (P < .01), and the cough inhibition rates were between 40.9% and 85.1%. Therefore, lignans are the antitussive ingredients of S. chinensis.

Production of 1,3-Dihydroxyacetone from Glycerol by Gluconobacter oxydans ZJB09112

( Zhong Ce Hu ),( Zhi Qiang Liu ),( Yu Guo Zheng ),( Yin Chu Shen ) 한국미생물 · 생명공학회 2010 Journal of microbiology and biotechnology Vol.20 No.2

Dissolved-oxygen-stat Fed-batch Fermentation of 1,3-Dihydroxyacetone from Glycerol by Gluconobacter oxydans ZJB09112

Zhong-Ce Hu,Yu-Guo Zheng,Yin-Chu Shen 한국생물공학회 2010 Biotechnology and Bioprocess Engineering Vol.15 No.4

This study investigated the effects of DO concentration on DHA fermentation and of DO-stat fed-batch fermentation using a pH control strategy, on 1,3-dihydroxyacetone (DHA) production. The results showed that DO-stat fed-batch fermentation with pH-shift control was the optimal bioprocess for DHA production. DO-stat fedbatch fermentation was carried out at 30% air saturation,and the culture pH was automatically maintained at pH 6.0during the first 20 h and then shifted to pH 5.0 until the end of the fermentation. An optimal DHA concentration of 175.9 ± 6.7 g/L, with a production yield to glycerol of 0.87 ± 0.04 g/g, was obtained at 72 h of DO-stat fed-batch fermentation at 30°C in a 15 L fermenter.

Two Maternal Lineages Revealed by Mitochondrial DNA D-loop Sequences in Chinese Native Water Buffaloes (Bubalus bubalis)

Lei, Chu-Zhao,Zhang, Wei,Chen, Hong,Lu, Fan,Ge, Qing-Lan,Liu, Ruo-Yu,Dang, Rui-Hua,Yao, Yun-Yi,Yao, Li-Bo,Lu, Zi-Fan,Zhao, Zhong-liang Asian Australasian Association of Animal Productio 2007 Animal Bioscience Vol.20 No.4

Little is known about the origin and genetic diversity of swamp buffaloes in China. To obtain more knowledge on genetics of the water buffalo in China, the complete mitochondrial D-loop sequences of 30 samples from 6 native types were investigated. The results revealed 12 mitochondrial haplotypes with 50 polymorphic sites. Among these polymorphic sites, there were 49 transitions and 1 transversion. The average nucleotide diversity and haplotype diversity estimated from mtDNA D-loop region in 6 Chinese water buffalo types were 0.00684 and 0.798, respectively, showing rather abundant mitochondrial genetic diversity. The Neighbor-Joining (NJ) tree of mtDNA of Chinese water buffaloes was constructed according to the 12 haplotypes. The NJ tree indicated two lineages being designated lineage A and lineage B, in which lineage A was predominant, and lineage B was at low frequency. The new lineage B was first discovered and defined in 6 Chinese water buffalo types. These results showed that two different maternal lineages were involved in the origin of domestic swamp buffaloes in China and the lineage B was probably an introgression from Southeast Asian buffaloes.

Sweetness or Mouthfeel: A corpus-based study of the conceptualization of taste

( Yin Zhong ),( Chu-ren Huang ) 경희대학교 언어정보연구소 2020 언어연구 Vol.37 No.3

The sensory lexicon plays a pivotal role in bridging our cognitive system to the physical world. In this role, it has been the focus of recent interdisciplinary investigations on cognition, language, culture, and their interactions. Recent studies on linguistic synesthesia and sensory modality exclusivity showed unequivocally that cross-modality usages of sensory words are the norm rather than the exception. Given the dominance of cross-modality uses, the null hypothesis that the five senses are separate but equal modules merits a closer examination. In this paper, we focus on the gustatory quality of sweetness because of its universal appeal as well as the well-attested cultural influence on the gustatory lexicon. Based on an analysis of online food reviews containing descriptions of desserts, we show that mouthfeel, a multisensory concept, is strongly preferred over sweetness. Mouthfeel is associated with words from all the sensory domains, including both sensory and abstract (e.g., mental state) concepts. The highly non-exclusive characteristic of gustatory sensation suggests that it might be the most connected sensory modality, and the cross-modality expressions indicating personal preferences further imply the subjective propensity of the gustatory sense. Our study adds to the existing literature the interrelationship among sensory modalities through language use, and further sheds light on the interactions between language, cognition, and culture. (The Hong Kong Polytechnic University)

Accurate delivery of pristimerin and paclitaxel by folic acid-linked nano-micelles for enhancing chemosensitivity in cancer therapy

Chen Chao,Du Shiyu,Zhong Wu,Liu Kunguo,Qu Lihua,Chu Feiyi,Yang Jingjing,Han Xin 나노기술연구협의회 2022 Nano Convergence Vol.9 No.52

Chemoresistance remains a huge challenge for effective treatment of non-small cell lung cancer (NSCLC). Previous studies have shown Chinese herbal extracts possess great potential in ameliorating tumor chemoresistance, however, the efficacy is clinically limited mainly because of the poor tumor-targeting and in vivo stability. The construction of nano-delivery systems for herbal extracts has been shown to improve drug targeting, enhance therapeutic efficacy and reduce toxic and side effects. In this study, a folic acid (FA)-modified nano-herb micelle was developed for codelivery of pristimerin (PRI) and paclitaxel (PTX) to enhance chemosensitivity of NSCLC, in which PRI could synergistically enhance PTX-induced growth inhibition of A549 cancer cell. PTX was firstly grafted with the FA-linked polyethylene glycol (PEG) and then encapsulated with PRI to construct the PRI@FA-PEG-PTX (P@FPP) nano-micelles (NMs), which exhibited improved tumor-targeting and in vivo stability. This active-targeting P@FPP NMs displayed excellent tumor-targeting characteristics without obvious toxicity. Moreover, inhibition of tumor growth and metastasis induced by P@FPP NMs were significantly enhanced compared with the combined effects of the two drugs (PRI in combination of PTX), which associated with epithelial mesenchymal transition inhibition to some extent. Overall, this active-targeting NMs provides a versatile nano-herb strategy for improving tumor-targeting of Chinese herbal extracts, which may help in the promotion of enhancing chemosensitivity of NSCLC in clinical applications.

Effect of cation ratio and order on magnetic circular dichroism in the double perovskite Sr₂Fe₁₊ <i> _x </i>Re_1- <i> _x </i>O₆

Ho, Ping-Luen,Yu, Chu-Ping,Zhang, Qiqi,Song, Kyung,Buban, James P.,Choi, Si-Young,Dunin-Borkowski, Rafal E.,Mayer, Joachim,Tai, Nyan-Hwa,Zhu, Jing,Jin, Lei,Zhong, Xiaoyan Elsevier 2018 Ultramicroscopy Vol.193 No.-

<P><B>Abstract</B></P> <P>Superexchange-based magnetic coupling of the two <I>B</I>-site cations in rock-salt-ordered double perovskite oxides is extremely sensitive to the cation ratio and degree of order. However, as a result of the limited spatial resolution of most magnetic characterization techniques, it is challenging to establish a direct relationship between magnetic properties and structure in these materials, including the effects of elemental segregation and cation disorder. Here, we use electron energy-loss magnetic chiral dichroism together with aberration-corrected electron microscopy and spectroscopy to record magnetic circular dichroism (MCD) spectra at the nm scale, in combination with structural and chemical information at the atomic scale from the very same region. We study nanoscale phases in ordered Sr<SUB>2</SUB>[Fe][Re]O<SUB>6</SUB>, ordered Sr<SUB>2</SUB>[Fe][Fe<SUB>1/5</SUB>Re<SUB>4/5</SUB>]O<SUB>6</SUB> and disordered Sr[Fe<SUB>4/5</SUB>Re<SUB>1/5</SUB>]O<SUB>3</SUB> individually, in order to understand the role of cation ratio and order on local magnetic coupling. When compared with ordered Sr<SUB>2</SUB>[Fe][Re]O<SUB>6</SUB>, we find that antiferromagnetic Fe<SUP>3+</SUP>-O<SUP>2−</SUP>-Fe<SUP>3+</SUP>superexchange interactions arising from an excess of Fe suppress the MCD signal from Fe cations in ordered Sr<SUB>2</SUB>[Fe][Fe<SUB>1/5</SUB>Re<SUB>4/5</SUB>]O<SUB>6</SUB>, while dominant Fe<SUP>3+</SUP>-O<SUP>2−</SUP>-Fe<SUP>3+</SUP>antiferromagnetic coupling in disordered Sr[Fe<SUB>4/5</SUB>Re<SUB>1/5</SUB>]O<SUB>3</SUB> leads to a decrease in MCD signal down to the noise level. Our work demonstrates a protocol that can be used to correlate crystallographic, electronic and magnetic information in materials such as Sr<SUB>2</SUB>Fe<SUB>1+</SUB> <I> <SUB>x</SUB> </I>Re<SUB>1-</SUB> <I> <SUB>x</SUB> </I>O<SUB>6</SUB>, in order to provide insight into structure-property relationships in double perovskite oxides at the atomic scale.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Local measurements of magnetic circular dichroism, atomic arrangement, cation order, chemical state and elemental distribution from the very same region provide an improved understanding of structure-property relationships at the nm scale in double perovskites with different structural complexities. </LI> <LI> Antiferromagnetic Fe<SUP>3+</SUP>-O<SUP>2−</SUP>-Fe<SUP>3+</SUP>superexchange interactions arising from an excess of Fe suppress the magnetic circular dichroism signal from Fe cations in ordered Sr<SUB>2</SUB>[Fe][Fe<SUB>1/5</SUB>Re<SUB>4/5</SUB>]O<SUB>6</SUB>, when compared with ordered Sr<SUB>2</SUB>[Fe][Re]O<SUB>6</SUB>. </LI> <LI> Dominant Fe<SUP>3+</SUP>-O<SUP>2−</SUP>-Fe<SUP>3+</SUP>antiferromagnetic coupling in disordered Sr[Fe<SUB>4/5</SUB>Re<SUB>1/5</SUB>]O<SUB>3</SUB> leads to a decrease in magnetic circular dichroism signal down to the noise level. </LI> </UL> </P>

Fuzzy system and Improved APIT (FIAPIT) combined range-free localization method for WSN

( Xiaofeng Li ),( Liangfeng Chen ),( Jianping Wang ),( Zhong Chu ),( Qiyue Li ),( Wei Sun ) 한국인터넷정보학회 2015 KSII Transactions on Internet and Information Syst Vol.9 No.7

Among numerous localization schemes proposed specifically for Wireless Sensor Network (WSN), the range-free localization algorithms based on the received signal strength indication (RSSI) have attracted considerable research interest for their simplicity and low cost. As a typical range-free algorithm, Approximate Point In Triangulation test (APIT) suffers from significant estimation errors due to its theoretical defects and RSSI inaccuracy. To address these problems, a novel localization method called FIAPIT, which is a combination of an improved APIT (IAPIT) and a fuzzy logic system, is proposed. The proposed IAPIT addresses the theoretical defects of APIT in near (it`s defined as a point adjacent to a sensor is closer to three vertexes of a triangle area where the sensor resides simultaneously) and far (the opposite case of the near case) cases partly. To compensate for negative effects of RSSI inaccuracy, a fuzzy system, whose logic inference is based on IAPIT, is applied. Finally, the sensor`s coordinates are estimated as the weighted average of centers of gravity (COGs) of triangles` intersection areas. Each COG has a different weight inferred by FIAPIT. Numerical simulations were performed to compare four algorithms with varying system parameters. The results show that IAPIT corrects the defects of APIT when adjacent nodes are enough, and FIAPIT is better than others when RSSI is inaccuracy.