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| 1 | Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll-pitch-yaw spherical wrist显示文摘The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing;however,current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to achieve.This study proposes a seven-degree-of-freedom(7-DOF)redundant anthropomorphic hydraulically actuated manipulator with a novel roll-pitch-yaw spherical wrist.A hybrid series-parallel mechanism is presented to achieve the spherical wrist design,which consists of two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected serially to the roll structure.Designed as a 1R£RRR-1S£U mechanism(“R”,“P”,“S”,and“U”denote revolute,prismatic,spherical,and universal joints,respectively;the underlined letter indicates the active joint),the 2-DOF parallel structure is partially decoupled to obtain simple forward/inverse kinematic solutions in which a closed-loop subchain“R£RR”is included.The 7-DOF manipulator is then designed,and its third joint axis goes through the spherical center to obtain closed-form inverse kinematic computation.The analytical inverse kinematic solution is drawn by constructing self-motion manifolds.Finally,a physical prototype is developed,and the kinematic analysis is validated via numerical simulation and test results. | Min CHENG Zenan HAN Ruqi DING Junhui ZHANG Bing XU | 2021 | Frontiers of Mechanical Engineering2021，16，4： | 5 |
| 2 | Effect of Radial Resistance Gap on the Pressure Drop of a Compact Annular-Radial-Orifice Flow Magnetorheological Valve显示文摘A compact annular-radial-orifice flow magnetorheological(MR)valve was developed to investigate the effects of radial resistance gap on pressure drop.The fluid flow paths of this proposed MR valve consist of a single annular flow channel,a single radial flow channel and an orifice flow channel through structure design.The finite element modelling and simulation analysis of the MR valve was carried out using ANSYS/Emag software to investigate the changes of the magnetic flux density and yield stress along the fluid flow paths under the four different radial resistance gaps.Moreover,the experimental tests were also conducted to evaluate the pressure drop,showing that the proposed MR valve has significantly improved its pressure drop at 0.5 mm width of the radial resistance gap when the annular resistance gap is fixed at 1 mm. | Guoliang Hu Jiawei Zhang Mingke Liao Ruqi Ding | 2018 | Journal of Beijing Institute of Technology2018，27，4： | 4 |
| 3 | Structure Optimization and Performance Analysis of a Multiple Radial Magnetorheological Valve显示文摘Due to the controllable and reversible properties of the smart magnetorheological (MR) fluid,a novel multiple radial MR valve was developed. The fluid flowchannels of the proposed MR valve were mainly composed of two annular fluid flowchannels,four radial fluid flow channels and three centric pipe fluid flowchannels. The working principle of the multiple radial MR valve was introduced in detail,and the structure optimization design was carried out using ANSYS software to obtain the optimal structure parameters. Moreover,the optimized MR valve was compared with preoptimized MR valve in terms of their magnetic flux density of radial fluid resistance gap and performance of pressure drop. The experimental test rig was set up to investigate the performance of pressure drop of the proposed MR valve under different currents applied and different loading cases. The results showthat the pressure drop between the inlet and outlet port could reach 5. 77 MPa at the applied current of 0. 8 A. Furthermore,the experimental results also indicate that the loading cases had no effect on the performance of pressure drop. | Guoliang Hu Fang Zhong Haiyun Zhang Ruqi Ding | 2017 | Journal of Beijing Institute of Technology2017，26，4： | 3 |
| 4 | Soft computing-based predictive modeling of flexible electrohydrodynamic pumps显示文摘Flexible electrohydrodynamic(EHD)pumps have been developed and applied in many fields due to no transmission structure,no wear,easy manipulation,and no noise.Physical simulation is often used to predict the output performance of flexible EHD pumps.However,this method neglects fluid–solid interaction and energy loss caused by flexible materials,which are both difficult to calculate when the flexible pumps deform.Therefore,this study proposes a flexible pump output performance prediction using machine learning algorithms.We used three different types of machine learning:random forest regression,ridge regression,and neural network to predict the critical parameters(pressure,flow rate,and power)of the flexible EHD pump.Voltage,angle,gap,overlap,and channel height are selected as five input data of the neural network.In addition,we optimized essential parameters in the three networks.Finally,we adopt the best predictive model and evaluate the significance of five input parameters to the output performance of the flexible EHD pumps.Among the three methods,the MLP model has exceptionally high accuracy in predicting pressure and flow.Our work is beneficial for the design process of fluid sources in flexible soft actuators and soft hydraulic sources in microfluidic chips. | Zebing Mao Yanhong Peng Chenlong Hu Ruqi Ding Yuhei Yamada Shingo Maeda | 2023 | Biomimetic Intelligence & Robotics2023，3，3： | 2 |
| 5 | Mapping of de novo mutations in primary biliary cholangitis to a disease-specific co-expression network underlying homeostasis and metabolism显示文摘Primary biliary cholangitis(PBC) is an autoimmune disease involving dysregulation of a broad array of homeostatic and metabolic processes. Although considerable single-nucleotide polymorphisms have been unveiled, a large fraction of risk factors remains enigmatic. Candidate genes with rare mutations that tend to confer more deleterious effects need to be identified. To help pinpoint cellular and developmental mechanisms beyond common noncoding variants, we integrate whole exome sequencing with integrative network analysis to investigate genes harboring de novo mutations. Prominent convergence has been revealed on a network of disease-specific co-expression comprised of 55 genes associated with homeostasis and metabolism. The transcription factor gene MEF2 D and the DNA repair gene PARP2 are highlighted as hub genes and identified to be up-and down-regulated, respectively, in peripheral blood data set. Enrichment analysis demonstrates that altered expression of MEF2 D and PARP2 may trigger a series of molecular and cellular processes with pivotal roles in PBC pathophysiology. Our study identifies genes with de novo mutations in PBC and suggests that a subset of genes in homeostasis and metabolism tend to act in synergy through converging on co-expression network, providing novel insights into the etiology of PBC and expanding the pool of molecular candidates for discovering clinically actionable biomarkers. | Lu Wang Jinchen Li Chan Wang Ruqi Tang Jialong Liang Yuhua Gong Yaping Dai Ningling Ding Jian Wu Na Dai Lei Liu Yi Zhao Youlin Shao Weifeng Zhao Peng Jiang Xingjuan Shi Weichang Chen Ye Tian Xiangdong Liu Xiong Ma Zhongsheng Sun | 2022 | Journal of Genetics and Genomics2022，49，2： | 1 |
| 6 | Analysis and Optimization of Inside-Cushion Structure in High-Speed Hydraulic Cylinders显示文摘An inside-cushion structure with sidestep and taper-shaped plungers is studied to address the problems of high impact and vibration in high-speed hydraulic cylinders.First,the three stages of cushion processes are discussed according to the varying flow area as the piston moves.Then,to establish a precise mathematical model,the states of the flow field are estimated in terms of the Reynolds number.Accordingly,the simulation model parameterized against measured data is developed and verified by experiment.Last,the average velocity,peak cushion pressure,and terminal velocity are defined to evaluate cushion performance.According to these optimized objectives,the non-linear programming by quadratic Lagrange(NLPQL)algorithm is applied to optimize the structure parameters.The optimization results indicate that the peak cushion pressure is reduced by 28%and terminal velocity is reduced by 21%without reduction of average velocity. | Ruqi Ding Sheng Wang Ying Wei Leping Cai | 2019 | Journal of Beijing Institute of Technology2019，28，4： | 0 |
| 7 | A Multi-mode Electronic Load Sensing Control Scheme with Power Limitation and Pressure Cut-off for Mobile Machinery显示文摘In mobile machinery,hydro-mechanical pumps are increasingly replaced by electronically controlled pumps to improve the automation level,but diversified control functions(e.g.,power limitation and pressure cut-off)are integrated into the electronic controller only from the pump level,leading to the potential instability of the overall system.To solve this problem,a multi-mode electrohydraulic load sensing(MELS)control scheme is proposed especially considering the switching stability from the system level,which includes four working modes of flow control,load sensing,power limitation,and pressure control.Depending on the actual working requirements,the switching rules for the different modes and the switching direction(i.e.,the modes can be switched bilaterally or unilaterally)are defined.The priority of different modes is also defined,from high to low:pressure control,power limitation,load sensing,and flow control.When multiple switching rules are satisfied at the same time,the system switches to the control mode with the highest priority.In addition,the switching stability between flow control and pressure control modes is analyzed,and the controller parameters that guarantee the switching stability are obtained.A comparative study is carried out based on a test rig with a 2-ton hydraulic excavator.The results show that the MELS controller can achieve the control functions of proper flow supplement,power limitation,and pressure cut-off,which has good stability performance when switching between different control modes.This research proposes the MELS control method that realizes the stability of multi-mode switching of the hydraulic system of mobile machinery under different working conditions. | Min Cheng Bolin Sun Ruqi Ding Bing Xu | 2023 | Chinese Journal of Mechanical Engineering2023，36，1： | 0 |
| 8 | Differential regulation of JAK1 expression by ETS1 associated with predisposition to primary biliary cholangitis显示文摘Primary biliary cholangitis(PBC)is an autoimmune liver disease characterized by the destruction of intrahepatic small bile ducts and progressive cholestasis,eventually leading to liver cirrhosis and hepatic failure without appropriate treatment(Terziroli Beretta-Piccoli et al.,2019). | Peng Jiang Chan Wang Mingming Zhang Ye Tian Weifeng Zhao Junyi Xin Yexi Huang Zhibin Zhao Wenjuan Sun Jie Long Ruqi Tang Fang Qiu Xingjuan Shi Yi Zhao Li Zhu Na Dai Lei Liu Xudong Wu Jinshan Nie Bo Jiang Youlin Shao Yueqiu Gao Jianjiang Yu Zhigang Hu Zhidong Zang Yuhua Gong Yaping Dai Lan Wang Ningling Ding Ping Xu Sufang Chen Lu Wang Jing Xu Luyao Zhang Junyan Hong Ruonan Qian Hu Li Xuan Jiang Congwei Chen Wenyan Tian Jian Wu Yuzhang Jiang Chongxu Han Kui Zhang Hong Qiu Li Li Hong Fan Liming Chen Jianqiong Zhang Zhongsheng Sun Xiao Han Zhenhua Dai Erguang Li M.Eric Gershwin Zhexiong Lian Xiong Ma Michael F.Seldin Weichang Chen Meilin Wang Xiangdong Liu | 2023 | Journal of Genetics and Genomics2023，50，10： | 0 |
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