Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

The Construction of Integrated Nursing Model Prevention of Oxaliplatin Chemotherapy-Induced Peripheral Nerve Injury

Objective: To investigate the effect of the integrated nursing model in the prevention of chemotherapy-induced peripheral injury. Methods: A total of 60 tumor patients receiving oxaliplatin for 1 - 6 cycles of chemotherapy from January to September 2023 were selected. 30 patients were selected from January to March and divided into the control group, and 30 patients were selected from July to 9 as the experimental group. The control group received conventional chemotherapy nursing, while the experimental group received integrated nursing. Anxiety, peripheral nerve toxicity stage and quality of life score were compared between the two groups before and after intervention. Results: After intervention, the scores of the self-rating Anxiety Scale (SAS) and the total scores of the oxaliplatin Levi specific sensory neurotoxicity scale in the experimental group were significantly lower than those in the control group, and the differences were statistically significant (P< 0.05);The Quality of Life Scale (FACT-G) score of cancer patients was higher than that of control group, and the difference was statistically significant (P< 0.05). Conclusion: The integrated nursing model can effectively reduce the anxiety of patients, reduce the incidence of peripheral nerve injury and improve the quality of life of patients.

A Distributionally Robust Optimization Scheduling Model for Regional Integrated Energy Systems Considering Hot Dry Rock Co-Generation

Hot dry rock(HDR)is rich in reserve,widely distributed,green,low-carbon,and has broad development potential and prospects.In this paper,a distributionally robust optimization(DRO)scheduling model for a regionally integrated energy system(RIES)considering HDR co-generation is proposed.First,the HDR-enhanced geothermal system(HDR-EGS)is introduced into the RIES.HDR-EGS realizes the thermoelectric decoupling of combined heat and power(CHP)through coordinated operation with the regional power grid and the regional heat grid,which enhances the system wind power(WP)feed-in space.Secondly,peak-hour loads are shifted using price demand response guidance in the context of time-of-day pricing.Finally,the optimization objective is established to minimize the total cost in the RIES scheduling cycle and construct a DRO scheduling model for RIES with HDR-EGS.By simulating a real small-scale RIES,the results show that HDR-EGS can effectively promote WP consumption and reduce the operating cost of the system.

Research and Practice of Flipped Classroom Teaching Mode of Integrated Business English Course Under MOOC Environment

As an online course-teaching mode,Massive Open Online Course(MOOC)has drawn great attention from both teachers and students.It is necessary to give full play to the advantages of MOOC resources and to enhance teachers’consciousness of“identity remodeling”in the process of Integrated Business English flipping classroom teaching.Combining the advantages of MOOC and flipped classroom teaching during before-,during-,and after-class will greatly help promote the overall quality of business English teaching in universities.

Analysis of the Effect of Integrated Extended Care Model in Improving the Quality of Life of Elderly Patients with Type 2 Diabetes Mellitus

Objective: To analyze the impact of an integrated extended care model on improving the quality of life of elderly patients with Type 2 Diabetes Mellitus (T2DM). Methods: A total of 176 patients admitted to the hospital from March 2015 to February 2018 were selected and randomly assigned to an observation group and a control group, with 88 patients each. The control group implemented conventional nursing interventions, and the observation group carried out an integrated extended-care model. The level of glycemic control, quality of life, and daily medication adherence between both groups were compared. Results: The observation group showed significant improvement in the level of glycemic control, and their fasting blood glucose, 2-hour postprandial blood glucose, and glycated hemoglobin levels were significantly lower as compared with those in the study group (P < 0.05). The quality of life of the patients in the observation group was higher than that of the control group (P < 0.05). The observation group had a higher compliance score (95.48 ± 7.45) than the control group (81.31 ± 8.72) (t = 8.909, P < 0.05). Conclusion: The integrated extended care model allows patients to receive comprehensive and individualized nursing services after discharge, which improves the effect of drug therapy and the quality of life of patients.

The Model of“Post,Course,Competition,Certificate”Integrated Education for Electronic Information Engineering Technology Major in Higher Vocational Colleges

The core education function of higher vocational colleges is to train technical talents with high quality,so as to meet the needs of talents in the development stage of our society.Under the guidance of talent training,higher vocational colleges need to pay attention to establishing an all-round and three-dimensional education model,and promote innovation of higher vocational education on the basis of this.It is also a way to promote the innovation of higher vocational education to vigorously promote the construction of“post,course,competition,certificate”mode in the construction of education mode.Through the construction of“post,course,competition,certificate”mode,the education mode of higher vocational colleges is gradually improved,so as to strengthen the effectiveness of talent training in higher vocational colleges.Therefore,in this paper,the author puts forward some suggestions to promote the construction of the integrated education mode of the electronic information engineering technology major in higher vocational colleges,so as to help improve the talent training level of higher vocational colleges.

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

基于主客观环流分型的强降水数值预报MODE检验方法及其在2019年暖季东北地区的应用

本文构建了基于主客观环流分型的强降水数值预报空间检验(MODE)方法框架,并利用该框架对欧洲中期天气预报中心全球模式(ECMWF)和中国气象局区域中尺度数值天气预报模式(CMA_MESO)的2019年暖季东北地区强降水预报进行检验。结果表明,2019年暖季东北地区54个强降水日的环流型可分为:西风槽型(15个)、副热带高压影响型(13个)、急流型(5个)、西部(12个)和东部冷涡型(9个)。其中,西风槽型和急流型以区域性强降水为主,模式对其强降水发生与否的预报能力强,TS评分较高;西部、东部冷涡型强降水的局地性强,模式对其强降水发生与否的预报能力差,TS评分低;副热带高压影响型也以区域性强降水为主,模式对其强降水发生与否的预报能力也比较强,但是对其强降水质心位置、强度、面积等属性预报偏差较大,TS评分也相对较低。另外,从两种模式预报性能对比看,CMA_MESO强降水强度和面积预报较实况普遍偏强,虽然其预报的TS评分一般高于ECMWF,但其对强降水预报的空报率也都比ECMWF大,对强降水的属性预报偏差一致性一般也低于ECMWF,其预报的可订正性整体上不及ECMWF。

Integrated of Proximity-Coupling High-Order Modes Patch Antenna with Solar Cells for Sustainable Communication

An integration of single-layer proximitycoupling patch antenna and solar cells with bandwidth enhancement and optical energy harvesting is proposed for sustainable communication.For this purpose,many dual-function components are selected for designing the miniaturized solar cell antenna.On the one hand,by greatly affecting the current flow of the rectangular patch,vias and proximity-coupling are introduced to control the resonance modes frequency and matching,respectively,for wideband application,and the radiation performance property can be achieved by high-order mode.On the other hand,vias and proximity-coupling are beneficial to complete direct-current(DC)loop of solar cell and improve compatibility of DC-RF(radio frequency),whereas a high-order mode is beneficial to increase the area of collected light energy.To prove the working principle,fabricated and manufactured solar cell antenna.The measured and simulated results illustrate that the solar cell antenna gain is raised to as high as 9.27 d Bi in4.37 to 5.06 GHz applied to fifth generation communication(5G).

一种基于粗糙熵的改进K-modes聚类算法

K-modes聚类算法被广泛应用于人工智能、数据挖掘等领域。传统的K-modes聚类算法有不错的聚类效果,但是存在迭代次数多、计算量大、容易受到冗余属性的干扰等问题,且仅采用简单的0-1匹配的方法来定义2个样本属性值之间的距离,没有充分考虑每个属性对聚类结果的影响。针对上述问题,该文将粗糙熵引入K-modes算法。首先利用粗糙集属性约简算法消除冗余属性,确定各属性的重要程度;然后利用粗糙熵确定每个属性的权重,从而定义新的类内距离。将该文所提算法与传统的K-modes聚类算法分别在4组公开数据集上进行对比试验。试验结果表明,该文所提算法聚类准确率比传统的K-modes聚类算法更高。

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

Prediction models of burst strength degradation for casing with considerations of both wear and corrosion

Casing wear and casing corrosion are serious problems affecting casing integrity failure in deep and ultra-deep wells.This paper aims to predict the casing burst strength with considerations of both wear and corrosion.Firstly,the crescent wear shape is simplified into three categories according to common mathematical models.Then,based on the mechano-electrochemical(M-E)interaction,the prediction model of corrosion depth is built with worn depth as the initial condition,and the prediction models of burst strength of the worn casing and corroded casing are obtained.Secondly,the accuracy of different prediction models is validated by numerical simulation,and the main influence factors on casing strength are obtained.At last,the theoretical models are applied to an ultra-deep well in Northwest China,and the dangerous well sections caused by wear and corrosion are predicted,and the corrosion rate threshold to ensure the safety of casing is obtained.The results show that the existence of wear defects results in a stress concentration and enhanced M-E interaction on corrosion depth growth.The accuracy of different mathematical models is different:the slot ring model is most accurate for predicting corrosion depth,and the eccentric model is most accurate for predicting the burst strength of corroded casing.The burst strength of the casing will be overestimated by more than one-third if the M-E interaction is neglected,so the coupling effect of wear and corrosion should be sufficiently considered in casing integrity evaluation.

Optimal synthesis of heat-integrated distillation configurations using the two-column superstructure

In the realm of the synthesis of heat-integrated distillation configurations,the conventional approach for exploring more heat integration possibilities typically entails the splitting of a single column into a twocolumn configuration.However,this approach frequently necessitates tedious enumeration procedures,resulting in a considerable computational burden.To surmount this formidable challenge,the present study introduces an innovative remedy:The proposition of a superstructure that encompasses both single-column and multiple two-column configurations.Additionally,a simultaneous optimization algorithm is applied to optimize both the process parameters and heat integration structures of the twocolumn configurations.The effectiveness of this approach is demonstrated through a case study focusing on industrial organosilicon separation.The results underscore that the superstructure methodology not only substantially mitigates computational time compared to exhaustive enumeration but also furnishes solutions that exhibit comparable performance.

A crosstalk-free dual-mode sweat sensing system for naked-eye sweat loss quantification via changes in structural reflectance

Sweat loss monitoring is important for understanding the body’s thermoregulation and hydration status,as well as for comprehensive sweat analysis.Despite recent advances,developing a low-cost,scalable,and universal method for the fabrication of colorimetric microfluidics designed for sweat loss monitoring remains challenging.In this study,we propose a novel laserengraved surface roughening strategy for various flexible substrates.This process permits the construction of microchannels that show distinct structural reflectance changes before and after sweat filling.By leveraging these unique optical properties,we have developed a fully laser-engraved microfluidic device for the quantification of naked-eye sweat loss.This sweat loss sensor is capable of a volume resolution of 0.5µL and a total volume capacity of 11µL,and can be customized to meet different performance requirements.Moreover,we report the development of a crosstalk-free dual-mode sweat microfluidic system that integrates an Ag/AgCl chloride sensor and a matching wireless measurement flexible printed circuit board.This integrated system enables the real-time monitoring of colorimetric sweat loss signals and potential ion concentration signals without crosstalk.Finally,we demonstrate the potential practical use of this microfluidic sweat loss sensor and its integrated system for sports medicine via on-body studies.

High-chromium vanadium-titanium magnetite all-pellet integrated burden optimization and softening-melting behavior based on flux pellets

High-chromium vanadium-titanium magnetite(HVTM)is a crucial polymetallic-associated resource to be developed.The allpellet operation is a blast furnace trend that aims to reduce carbon dioxide emissions in the future.By referencing the production data of vanadium-titanium magnetite blast furnaces,this study explored the softening-melting behavior of high-chromium vanadium-titanium magnetite and obtained the optimal integrated burden based on flux pellets.The results show that the burden with a composition of 70wt%flux pellets and 30wt%acid pellets exhibits the best softening-melting properties.In comparison to that of the single burden,the softening-melting characteristic temperature of this burden composition was higher.The melting interval first increased from 307 to 362℃and then decreased to 282℃.The maximum pressure drop(ΔPmax)decreased from 26.76 to 19.01 kPa.The permeability index(S)dropped from 4643.5 to 2446.8 kPa·℃.The softening-melting properties of the integrated burden were apparently improved.The acid pellets played a role in withstanding load during the softening process.The flux pellets in the integrated burden exhibited a higher slag melting point,which increased the melting temperature during the melting process.The slag homogeneity and the TiC produced by over-reduction led to the gas permeability deterioration of the single burden.The segregation of the flux and acid pellets in the HVTM proportion and basicity mainly led to the better softening-melting properties of the integrated burden.

3D‑Printed Carbon‑Based Conformal Electromagnetic Interference Shielding Module for Integrated Electronics

Electromagnetic interference shielding(EMI SE)modules are the core com-ponent of modern electronics.However,the tra-ditional metal-based SE modules always take up indispensable three-dimensional space inside electronics,posing a major obstacle to the integra-tion of electronics.The innovation of integrating 3D-printed conformal shielding(c-SE)modules with packaging materials onto core electronics offers infinite possibilities to satisfy ideal SE func-tion without occupying additional space.Herein,the 3D printable carbon-based inks with various proportions of graphene and carbon nanotube nanoparticles are well-formulated by manipulating their rheological peculiarity.Accordingly,the free-constructed architectures with arbitrarily-customized structure and multifunctionality are created via 3D printing.In particular,the SE performance of 3D-printed frame is up to 61.4 dB,simultaneously accompanied with an ultralight architecture of 0.076 g cm^(-3) and a superhigh specific shielding of 802.4 dB cm3 g^(-1).Moreover,as a proof-of-concept,the 3D-printed c-SE module is in situ integrated into core electronics,successfully replacing the traditional metal-based module to afford multiple functions for electromagnetic compatibility and thermal dissipa-tion.Thus,this scientific innovation completely makes up the blank for assembling carbon-based c-SE modules and sheds a brilliant light on developing the next generation of high-performance shielding materials with arbitrarily-customized structure for integrated electronics.

An integrated machine learning model for accurate and robust prediction of superconducting critical temperature

Discovering new superconductors via traditional trial-and-error experimental approaches is apparently a time-consuming process,and the correlations between the critical temperature(Tc) and material features are still obscure.The rise of machine learning(ML) technology provides new opportunities to speed up inefficient exploration processes,and could potentially uncover new hints on the unclear correlations.In this work,we utilize open-source materials data,ML models,and data mining methods to explore the correlation between the chemical features and Tcvalues of superconducting materials.To further improve the prediction accuracy,a new model is created by integrating three basic algorithms,showing an enhanced accuracy with the coefficient of determination(R2) score of 95.9 % and root mean square error(RMSE) of 6.3 K.The average marginal contributions of material features towards Tcvalues are estimated to determine the importance of various features during prediction processes.The results suggest that the range thermal conductivity plays a critical role in Tcprediction among all element features.Furthermore,the integrated ML model is utilized to screen out potential twenty superconducting materials with Tcvalues beyond 50.0 K.This study provides insights towards Tcprediction to accelerate the exploration of potential high-Tcsuperconductors.

U-Net Models for Representing Wind Stress Anomalies over the Tropical Pacific and Their Integrations with an Intermediate Coupled Model for ENSO Studies

El Niño-Southern Oscillation(ENSO)is the strongest interannual climate mode influencing the coupled ocean-atmosphere system in the tropical Pacific,and numerous dynamical and statistical models have been developed to simulate and predict it.In some simplified coupled ocean-atmosphere models,the relationship between sea surface temperature(SST)anomalies and wind stress(τ)anomalies can be constructed by statistical methods,such as singular value decomposition(SVD).In recent years,the applications of artificial intelligence(AI)to climate modeling have shown promising prospects,and the integrations of AI-based models with dynamical models are active areas of research.This study constructs U-Net models for representing the relationship between SSTAs andτanomalies in the tropical Pacific;the UNet-derivedτmodel,denoted asτUNet,is then used to replace the original SVD-basedτmodel of an intermediate coupled model(ICM),forming a newly AI-integrated ICM,referred to as ICM-UNet.The simulation results obtained from ICM-UNet demonstrate their ability to represent the spatiotemporal variability of oceanic and atmospheric anomaly fields in the equatorial Pacific.In the ocean-only case study,theτUNet-derived wind stress anomaly fields are used to force the ocean component of the ICM,the results of which also indicate reasonable simulations of typical ENSO events.These results demonstrate the feasibility of integrating an AI-derived model with a physics-based dynamical model for ENSO modeling studies.Furthermore,the successful integration of the dynamical ocean models with the AI-based atmospheric wind model provides a novel approach to ocean-atmosphere interaction modeling studies.

An overview of the policies and models of integrated development for solar and wind power generation in China

Under the goal of “Carbon Emission Peak and Carbon Neutralization”, the integrated development between various industries and renewable energy(photovoltaic, wind power) is of great significance in China. This paper summarizes the relevant policies, integration schemes and typical cases of the integrated development between renewable energy and other industries. First, the development status of wind and solar generation in China is introduced. Second, we summarize the relevant policies issued by the National Development and Reform Commission, National Energy Administration and other departments to promote the integrated development in photovoltaic and wind power generation in China. Third, eight kinds of photovoltaic three-dimensional development models are described, including “photovoltaic + agriculture, industry, environmental protection, transportation, architecture, communication, hydrogen and ecology”. Fourth, eight kinds of wind power threedimensional development models are summarized, including “Offshore wind power + marine ranch, marine energy, marine tourism, marine oil and gas, hydrogen, communication, Energy Island” and “Onshore wind power+ courtyard”. In the future, the promotion and application of the above integrated development projects will be accelerated. This overview aims to provide reference for the design in photovoltaic and wind energy systems and help potential investors to make decisions.

Real-Time 4-Mode MDM Transmission Using Commercial 400G OTN Transceivers and All-Fiber Mode Multiplexers

Weakly-coupled mode division multiplexing(MDM)technique is considered a promising candidate to enhance the capacity of an optical transmission system,in which mode multiplexers/demultiplexers(MMUX/MDEMUX)with low insertion loss and modal crosstalk are the key components.In this paper,a low-modal-crosstalk 4-mode MMUX/MDEMUX for the weakly-coupled triple-ring-core few-mode fiber(TRC-FMF)is designed and fabricated with side-polishing processing.The measurement results show that a pair of MMUX/MDEMUX and 25 km weakly-coupled TRC-FMF MDM link achieve low modal crosstalk of lower than−17.5 dB and insertion loss of lower than 11.56 dB for all the four modes.Based on the TRC-FMF and all-fiber MMUX/MDEMUX,an experiment for 25 km real-time 4-mode 3-λwavelength division multiplexing(WDM)-MDM transmission is conducted using commercial 400G optical transport network(OTN)transceivers.The experimental results prove weakly-coupled MDM techniques facilitate a smooth upgrade of the optical transmission system.