There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

抗原变异可使得多种致病微生物易于逃避宿主免疫应答。表达在感染红细胞表面的恶性疟原虫红细胞表面蛋白1（PfPMP1）与感染红细胞、内皮细胞、树突状细胞以及胎盘的单个或多个受体作用，在黏附及免疫逃避中起关键的作用。每个单倍体基因组var基因家族编码约60种成员，通过启动转录不同的var基因变异体为抗原变异提供了分子基础。

疟原虫var基因转换速率变化导致抗原变异[英]／Paul H, Robert P, Christodoulou Z, et al//Proc Natl Acad Sci U S A

where A represents the magnetic vector potential, is an integral of the hydromagnetic equations. This -integral made it possible to formulate a variational principle for the force-free magnetic fields. The integral expresses the fact that motions cannot transform a given field in an entirely arbitrary different field, if the conductivity of the medium isconsidered infinite. In this paper we shall show that the full set of hydromagnetic equations admit five more integrals, besides the energy integral, if dissipative processes are absent. These integrals, as we shall presently verify, are I2 =fbHvdV, (2)

Proceedings of the National Academy of Sciences

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

https://onlinelibrary.wiley.com/doi/pdf/10.1002/adma.201707035

Soft Robotic Grippers.

More than a decade of research in the field of thermal, motion, vibration and electromagnetic radiation energy harvesting has yielded increasing power output and smaller embodiments. Power management circuits for rectification and DC-DC conversion are becoming able to efficiently convert the power from these energy harvesters. This paper summarizes recent energy harvesting results and their power management circuits.

Micropower energy harvesting

During the last few decades, magnetorheological (MR) elastomers have attracted a significant amount of attention for their enormous potential in engineering applications. Because they are a solid counterpart to MR fluids, MR elastomers exhibit a unique field-dependent material property when exposed to a magnetic field, and they overcome major issues faced in magnetorheological fluids, e.g. the deposition of iron particles, sealing problems and environmental contamination. Such advantages offer great potential for designing intelligent devices to be used in various engineering fields, especially in fields that involve vibration reduction and isolation. This paper presents a state of the art review on the recent progress of MR elastomer technology, with special emphasis on the research and development of MR elastomer devices and their applications. To keep the integrity of the knowledge, this review includes a brief introduction of MR elastomer materials and follows with a discussion of critical issues involved in designing magnetorheological elastomer devices, i.e. operation modes, coil placements and principle fundamentals. A comprehensive review has been presented on the research and development of MR elastomer devices, including vibration absorbers, vibration isolators, base isolators, sensing devices, and so on. A summary of the research on the modeling mechanical behavior for both the material and the devices is presented. Finally, the challenges and the potential facing magnetorheological elastomer technology are discussed, and suggestions have been made based on the authors’ knowledge and experience.

/pdf/a-state-of-the-art-review-on-magnetorheological-elastomer-4upfpmpbpd.pdf

A state-of-the-art review on magnetorheological elastomer devices

This paper presents an adaptive fuzzy control approach for a category of uncertain nonstrict-feedback systems with input saturation and output constraint. A variable separation approach is introduced to overcome the difficulty arising from the nonstrict-feedback structure. The problem of input saturation is solved by introducing an auxiliary design system, and output constraint is handled by utilizing a barrier Lyapunov function. Combing fuzzy logic system with the adaptive backstepping technique, the semi-global boundedness of all variables in the closed-loop systems is guaranteed, and the tracking error is driven to the origin with a small neighborhood. The stability of the closed-loop systems is proved, and the simulation results reveal the effectiveness of the proposed approach.

Adaptive Fuzzy Control for Nonstrict-Feedback Systems With Input Saturation and Output Constraint

This paper investigates the problem of fault detection for nonlinear discrete-time networked systems under an event-triggered scheme. A polynomial fuzzy fault detection filter is designed to generate a residual signal and detect faults in the system. A novel polynomial event-triggered scheme is proposed to determine the transmission of the signal. A fault detection filter is designed to guarantee that the residual system is asymptotically stable and satisfies the desired performance. Polynomial approximated membership functions obtained by Taylor series are employed for filtering analysis. Furthermore, sufficient conditions are represented in terms of sum of squares (SOSs) and can be solved by SOS tools in MATLAB environment. A numerical example is provided to demonstrate the effectiveness of the proposed results.

/pdf/event-triggered-fault-detection-of-nonlinear-networked-1xk81g956w.pdf

Event-Triggered Fault Detection of Nonlinear Networked Systems

Semi-active H∞ control of vehicle suspension with magneto-rheological dampers

This paper is concerned with the adaptive sliding mode control problem of uncertain nonlinear systems. Interval type-2 Takagi–Sugeno (T–S) fuzzy model is employed to represent uncertain nonlinear systems. The input matrices of the nonlinear systems are allowed to be different for the sliding mode controller design. The uncertain parameters are described by the lower and upper membership functions. An integral sliding mode surface is designed for analysis of sliding motion. Based on the sliding mode surface, a novel sliding mode controller is designed to guarantee that the closed-loop system is uniformly ultimately bounded. Some simulation results are given to illustrate the effectiveness of the presented control scheme.

Haiping Du

Papers

A state-of-the-art review on magnetorheological elastomer devices

Adaptive Fuzzy Control for Nonstrict-Feedback Systems With Input Saturation and Output Constraint

Event-Triggered Fault Detection of Nonlinear Networked Systems

Semi-active H∞ control of vehicle suspension with magneto-rheological dampers

Adaptive Sliding Mode Control for Interval Type-2 Fuzzy Systems