基于奖励引导的六足机器人自主步态学习

为提高机器人自主学习能力,提出一种基于奖励引导的机器人自主步态学习算法.首先给出自主设计的机械式步态同步六足机器人的机械结构,其独特的多层钢堆叠腿部设计方案和特有的机械同步传动方案为机器人后续步态学习研究奠定良好基础;接下来提出一种基于奖励引导的机器人步态学习算法,该算法可以让机器人在未知环境中进行技能学习;最后,在MATLAB和ADAMS联合仿真平台上进行算法验证实验,实验结果显示以速度和高度分别为主评价指标会呈现出2种合理的收敛结果,且在该算法下六足机器人可以自主学习到翻越木块的高难度技能.     

Exploring the methods on improving CH4 delivery performance to surpass the Advanced Research Project Ageney-Energy target

CH_4 storage associated with adsorbed natural gas(ANG) technology is an issue attracting great concern.Following the Advanced Research Project Agency-Energy(ARPA-E) targeted deliverable capacity of 315 cm~3·cm~(-3)(STP), hundreds of thousands of materials have been experimentally or theoretically evaluated,while the best results still show a 35% gap from the target. Moreover, recent theoretical research reveals that the target is beyond the possibility that real materials can be designed. To get rid of the awkward situation, we make attempts on investigating the CH_4 delivery performance under other operation conditions. Methods of raising the discharge temperature(to infinite high) or elevating the storage pressure(to 25 MPa) have been proved to show limited effectiveness. In this work, it is found that the ARPA-E target can be achieved by using a decreasing storage temperature strategy. By taking 280 Co RE(computation-ready, experimental) COFs(covalent organic frameworks) as ANG materials, when reduce the storage temperature to 190.6 K, the highest deliverable capacity can reach 392 cm~3·cm~(-3)(STP), and16.1% Co RE COFs can surpass the target. The target is also achievable when storage at 220 K. Structure performance relationships study shows strong correlation between deliverable capacity and void fraction. Hence, 120 hypothetical COFs are generated to ascertain the optimum void fraction. In addition,the performance of 2 D-COFs can be greatly enhanced by increasing the interlayer spacings, e.g. CH_4 deliverable capacity(storage at 190.6 K) of ATFG-COF can be improved from 239 to 411 cm~3·cm~(-3)(STP) when interlayer spacing is enlarged to 1.65 nm.     

内燃动车柴油发电机的励磁系统模糊滑膜控制研究

针对发电机励磁系统运行时的动静态性能要求,分析了内燃动车柴油发电机的控制特点,提出一种模糊滑模复合控制策略.利用滑模控制对扰动与参数不敏感的特性,可有效解决发电机励磁控制的鲁棒性问题;同时采用模糊控制,根据输出变化量和变化率在同步发电机运行过程中实现实时调整滑膜控制器的参数.仿真结果表明,与单纯的滑模控制相比,模糊滑膜控制器使发电机的端电压更稳定,具有较好的静态和动态性能.     

粉煤灰空心微珠强化厚型钢结构防火涂料的制备及性能

将小粒径粉煤灰空心微珠(FAC)作为隔热填料掺入厚型钢结构防火涂料中,研究了FAC掺量对涂料理化性能及耐火性能的影响.结果显示:FAC掺量为8％时得到的防火涂料整体性能最优,灼烧3 h的背温低于市售防火涂层.利用数据模型对防火涂料耐火试验过程参数进行计算,求得固定和平均这2种形式的等效热阻,再以其模拟钢构件受火过程的温升情况,结果与实测基本一致.探讨了涂层表现出耐火性的原因.     

Formation of Proto-Kranz in C3 Rice Induced by Spike-Stalk Injection Method

Introduction of C4 photosynthetic traits into C3 crops is an important strategy for improving photosynthetic capacity and productivity. Here, we report the research results of a variant line of sorghum–rice (SR) plant with big panicle and high spikelet density by introducing sorghum genome DNA into rice by spike-stalk injection. The whole-genome resequencing showed that a few sorghum genes could be integrated into the rice genome. Gene expression was confirmed for two C4 photosynthetic enzymes containing pyruvate, orthophosphate dikinase and phosphoenolpyruvate carboxykinase. Exogenous sorghum DNA integration induced a series of key traits associated with the C4 pathway called “proto-Kranz” anatomy, including leaf thickness, bundle sheath number and size, and chloroplast size in bundle sheath cells. Significantly, transgenic plants exhibited enhanced photosynthetic capacity resulting from both photosynthetic CO₂-concentrating effect and improved energy balance, which led to an increase in carbohydrate levels and productivity. Furthermore, such rice plant exhibited delayed leaf senescence. In summary, this study provides a proof for the feasibility of inducing the transition from C3 leaf anatomy to proto-Kranz by spike-stalk injection to achieve efficient photosynthesis and increase productivity.     

The miR-106b/NR2F2-AS1/PLEKHO2 Axis Regulates Migration and Invasion of Colorectal Cancer through the MAPK Pathway

Increasing numbers of miRNAs have been observed as oncogenes or tumor suppressors in colorectal cancer (CRC). It was recently reported that hsa-miR-106b-5p (miR-106b) promoted CRC cell migration and invasion. However, there were also studies showing contradictory results. Therefore, in the present study, we further explore the role of miR-106b and its downstream networks in the carcinogenesis of CRC. We observed that the expression of miR-106b is significantly increased in Pan-Cancer and CRC tissues compared with normal tissues from The Cancer Genome Atlas (TCGA) database. Furthermore, we used Transwell, Cell Counting Kit-8, and colony formation assays to clarify that miR-106b promotes the migratory, invasive, and proliferative abilities of CRC cells. For the first time, we systematically screened the target mRNAs and lncRNAs of miR-106b using TCGA database and the bioinformatics algorithms. Dual-luciferase reporter assay confirmed that NR2F2-AS1 and PLEKHO2 are the direct targets of miR-106b. Furthermore, NR2F2-AS1 acts as a competing endogenous RNA (ceRNA) to regulate PLEKHO2 expression by sponging miR-106b. The results of Gene set enrichment analysis (GSEA) and Western blot indicated that they play important roles in CRC progression by regulating MAPK pathway. Thus, miR-106b/NR2F2-AS1/PLEKHO2/MAPK signaling axis may suggest the potential usage in CRC treatment.     

A Review on the Fundamentals of Palm Oil Fractionation: Processing Conditions and Seeding Agents

Fractionation is a well-established process adopted in the fats and oils industries. It involves the separation of low and high melting triacylglycerol under controlled cooling conditions into olein and stearin fractions with distinct chemical and physical properties. Amongst the other vegetable oils, palm oil is one of the most fractionated oils in the past few decades mainly attributed to its semisolid properties. The various fraction of palm oil allows it to be used in different types of food products such as margarine, frying oil, and cocoa butter substitute. In fractionation, proper control of the fractionation conditions is important to produce the fractions with desirable stearin and olein quality. The purpose of this paper is to critically review the fractionation conditions (crystallization temperature, agitation, cooling rate and crystallization time) that affect the yield and quality of the oil produced. Additionally, it also provides the latest updates on the influence of seeding agents (diacylglycerol, monoacylglycerol, hard fat, phytosterol, phospholipid, lecithin, essential oil, sugar, polyglycerol ester, and talc) used in fractionation. This article is useful to provide a fundamental understanding of fractionation to scientists from the industries or academia working in the fats and oils industries. Practical Applications: This paper provides an in-depth understanding of fractionation particularly on the parameters of fractionation in influencing the quality and yield of the stearin and olein produced. It also for the first time presents the effect of addition of various seeding agents on palm oil fractionation which can help the industry to select the appropriate seeding agents to improve the currently employed fractionation process. Thus, it can act as a guideline for the industry to understand and select the appropriate fractionation conditions when developing a new product using this approach. The fractionation conditions discussed here can also be used as a reference when fractionating other types of fats and oils as most of them share a common background.     

Effects of surfactant and particle size on the microstructure and strength of Si3N4 foams with high porosity

The highly porous Si₃N₄ ceramic foams were prepared by direct foaming with mixed surfactants. The surface tension and viscosity of slurries were tailored by different carbon chain length of surfactants and different mean Si₃N₄ particle size to achieve the pore size controlling. The nearly linear relationship between the pore size and the ratio of surface tension to viscosity was observed, which indicates that the pore size could be precisely tailored by the slurry properties. Si₃N₄ ceramic foams with porosity of nearly 94%, mean pore size of 110–230 µm, and compressive strength of 1.24–3.51 MPa were obtained.     

高风电渗透率下考虑电网频率支撑需求的储能系统配置方法

提出了一种高风电渗透率下考虑电网频率支撑需求的储能系统配置方法.以频率变化率和频率偏差为限制条件,建立新能源系统所能承受的最大功率增量与等效惯性常数、调差系数以及风电渗透率等已知参数的联系.通过对3阶虚拟同步机控制策略下的储能系统容量与控制参数进行量化配置,提高不同风电渗透率系统对不平衡功率的消纳能力.以储能配置在频率支撑中贡献的等效单位调节功率为参考,对不同功率增量下储能系统的频率响应贡献、调频出力占比以及输出功率特性进行刻画与分析.仿真验证了该配置方法下的储能系统可控性强,能够较为精准地提供电网所需的有功调节量,有效改善风电并网环境.     

基于时空特性以及需求响应的DG和EV充电站多目标优化配置

针对可再生分布式电源(DG)及电动汽车(EV)大规模接入给配电网带来的用电量增长以及电压波动问题,提出一种基于时空特性以及需求响应的DG和EV充电站多目标协调优化配置方法.通过提取城市路网的拓扑结构,监测路网流量,基于交通规划软件TransCAD进行起讫点(OD)矩阵反推,构建出行概率矩阵以描述用户的出行特性;基于蒙特卡洛方法模拟EV的时空分布特性,考虑EV、DG与常规负荷的时序特性,并基于改进K-means算法构建风-光-负荷的典型运行场景;兼顾电网侧与用户侧,以综合效益、系统负荷波动以及充电耗时成本为目标,构建DG和EV充电站的多目标联合配置模型,并采用改进粒子群优化算法进行求解.结合IEEE 33节点配电网与某城区主干道路网模型进行仿真分析,结果验证了所建模型的有效性与可行性.