变长度柔性双足机器人行走控制及稳定性分析

针对传统双足机器人模型缺少脚质量和躯干的问题,提出考虑摆动腿动态及躯干影响的柔性双足机器人模型,并对其行走控制及稳定性进行研究。首先,建立系统的动力学模型并采用欧拉-拉格朗日法推导了系统的动力学方程;同时,在弹簧负载倒立摆（SLIP）模型的基础上添加刚性躯干、脚质量及采用变长度伸缩腿,充分考虑躯干及摆动腿动力学对机器人行走步态的影响;其次,设计基于变长度腿的反馈线性化控制器来跟踪目标轨迹,以及调节摆动腿和躯干的姿态;最后,利用Newton-Raphson迭代法和庞加莱映射分析机器人的不动点及轨道稳定性条件,并在理论分析的基础上进行仿真。仿真结果表明,所提控制器可以实现机器人的周期行走,对外界干扰具有良好的鲁棒性,且雅可比矩阵所有特征值的模均小于1,能形成稳定的极限环,证明系统是轨道稳定的。     

Adaptive fuzzy leader-follower consensus control using sliding mode mechanism for a class of high-order unknown nonlinear dynamic multi-agent systems

In this article, a distributed leader-follower consensus approach is developed for a class of high-order unknown nonlinear dynamic multi-agent systems (MASs). Because every agent of the MAS contains multiple state variables, the existing consensus methods are not completely applicable for it. In order to find the qualified consensus protocol for this high-order MAS, sliding mode mechanism can be naturally considered for designing the consensus control because it can manage multiple state variables with the help of a constructed hyperplane. To this consensus control design, the sliding mode term is composed of all tracking error variables. Since the method does not require the switching control term around sliding surface, it can avoid the chattering phenomenon, which exits in most of the published sliding mode controls (SMCs). Furthermore, to handle the unknown nonlinear dynamic problem, the adaptive approximation strategy is implemented by employing fuzzy logic system (FLS). In the light of Lyapunov stability analysis, it is demonstrated that the proposed control approach can accomplish the consensus tasks. Finally, a numerical example is implemented to further show the desired results.     

基于遗传算法的抗网表逆向攻击逻辑混淆方法

随着集成电路(IC)产业进入后摩尔时代,芯片一次性工程成本愈发高昂,而以逆向工程技术为代表的知识产权窃取手段,越来越严重地威胁着芯片信息安全。为了抵抗逆向工程攻击,该文提出一种基于遗传算法的自动化逻辑混淆方法,通过分析网表寄存器的拓扑网络结构,筛选逻辑节点并创建冗余连接,从而混淆词级寄存器的相似性特征,在低开销下防止逆向攻击恢复寄存器传输级的词级变量、控制逻辑与数据通路。基于SM4国密算法基准电路开展验证实验,结果表明:经该文方法混淆后,逆向结果与设计真实情况的标准化互信息相关度下降了46%,拓扑复杂度提升61.46倍,面积额外开销为0.216%;同时相较于随机混淆,该混淆方法效率提升为2.718倍,面积额外开销降低70.8%。     

Research on the Mechanical Properties of Magnetorheological Damping and the Performance of Microprobe Test Process

Journal of Electronic Testing - In order to control the stable and controllable loading of the wafer level microprobe test bench, the magnetorheological (MR) damper used in the existing research...     

Bioinspired yeast microcapsules loaded with self-assembled nanotherapies for targeted treatment of cardiovascular disease

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Analytical investigation and parametric study of lateral impact behavior of pressurized pipelines and influence of internal pressure

This article provides a combined computational and analytical study to investigate the lateral impact behavior of pressurized pipelines and inspect all the parameters such as the outside diameter and internal pressure and evaluate how they affect such behavior. In this study, quartic polynomial functions are applied to formulate the maximum crushing force (F_max), maximum permanent displacement (W), and absorbed energy (E) of the pressurized pipelines during the impact problem. The effects of the diameter and pressure on F_max, W, and E are therefore illustrated through analyzing these functions. Response surfaces are also plotted based on the generated quartic polynomial functions and the quality (accuracy) of these functions are verified through several techniques.     

Chevrel Phase Mo6T8 (T = S,Se) as Electrodes for Advanced Energy Storage

With the large‐scale applications of electric vehicles in recent years, future batteries are required to be higher in power and possess higher energy densities, be more environmental friendly, and have longer cycling life, lower cost, and greater safety than current batteries. Therefore, to develop alternative electrode materials for advanced batteries is an important research direction. Recently, the Chevrel phase Mo₆T₈ (T = S, Se) has attracted increasing attention as electrode candidate for advanced batteries, including monovalent (e.g., lithium and sodium) and multivalent (e.g., magnesium, zinc and aluminum) ion batteries. Benefiting from its unique open crystal structure, the Chevrel phase Mo₆T₈ cannot only ensure rapid ion transport, but also retain the structure stability during electrochemical reactions. Although the history of the research on Mo₆T₈ as electrodes for advanced batteries is short, there has been significant progress on the design and fabrication of Mo₆T₈ for various advanced batteries as above mentioned. An overview of the recent progress on Mo₆T₈ electrodes applied in advanced batteries is provided, including synthesis methods and diverse structures for Mo₆T₈, and electrochemical mechanism and performance of Mo₆T₈. Additionally, a briefly conclusion on the significant progress, obvious drawbacks, emerging challenges and some perspectives on the research of Mo₆T₈ for advanced batteries in the near future is provided.     

One-side value-added service investment and pricing strategies for a two-sided platform

To widen user participation and increase profit, two-sided platforms may invest on value-added services (VASs) for users. Due to the cross-market network externality, the investment for one side would affect the utility of users on two sides, thus affect the demand and profit of the platform. In this paper, we investigate one-side VAS investment and pricing strategies for a two-sided platform. It is revealed that it is optimal to invest at the maximum level for any marginal investing cost below a certain threshold, and to decrease the investment when the marginal investing cost increases above the threshold. We find that compared with the case of no investment, the invested user side will always be priced higher, while the uninvested user side may either be priced higher or lower, depending on the relative magnitude of mutual cross-market network externalities. If both sides are priced higher after the investment, the price increment for uninvested user side could be larger than that for invested user side.     

含纳米Co的新型PDC复合片性能试验研究

提出了用纳米钴代替微米钴作为粘结剂的PDC复合片制备新方法及配套的制备新工艺,并对新型PDC复合片的微观组织结构及性能进行了研究。微观分析结果表明,纳米钴较于微米钴更密实地填充在金刚石颗粒间,有效促进了金刚石颗粒间D-D键的形成,且添加纳米钴的金刚石层对金刚石颗粒的把持力更好,同时纳米钴在金刚石层中形态较小且分布均匀,这些均对提高复合片综合性能有积极作用。性能测试结果表明,相对于传统复合片,新型复合片抗冲击性能提高了1.13倍,其耐磨性和热稳定性也得到了一定的提高,这与微观分析的结论一致。研究成果不仅为提升复合片综合性能提供了新思路,也对实现钻井提速增效、提高PDC钻头使用寿命有重要意义。     

改性碳纳米材料在低温燃料电池中的应用

碳纳米材料(如炭黑、介孔碳、碳纳米管、石墨烯、碳纳米纤维、碳纳米角等)因其优异的电学性能和结构特性(良好的导电性能和超大的比表面积),被研究者广泛用作低温燃料电池贵金属催化剂的载体。然而,作为催化剂载体的这类碳纳米材料通常都存在电化学腐蚀的问题,碳载体的腐蚀通常会导致贵金属纳米催化剂的聚集,这将使催化剂的性能降低。为了改善碳载体的抗腐蚀性能,提高金属纳米粒子的活性和稳定性,许多研究工作致力于制备特殊结构的碳纳米材料,或对碳纳米材料进行表面修饰、掺杂等。与此同时,为了取代价格昂贵的贵金属催化剂,非贵金属催化剂的研究也成为一大热点,掺杂碳纳米材料就是研究热点之一。对近几年来围绕碳纳米材料制备、改性,以及这些改性碳纳米材料作为金属纳米粒子载体等的研究工作做了较为详细的综述,同时介绍了掺杂碳纳米材料作为氧还原催化剂的研究进展。