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Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science china(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU xinjiang YI Jian WANG YuHui XU Du State Key Laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 2..6 N and 36 N and torque of2.2.Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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Solvothermal synthesis of nanocrystalline FeS_2

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Science china(Physics,Mechanics & Astronomy) 2005年第2期48卷 188-200页

作者： CHEN Yanhua1, ZHENG Yufeng1, ZHANG Xiaogang2. SUN Yanfei1 & DONG Youzhong11. Physics Department of xinjiang university,{2.,{2. 2. Institute of Applied Chemistry of xinjiang university,{2.,{2. Physics Department of xinjiang university Urumqi 830046 China Institute of Applied Chemistry of xinjiang university Urumqi 830046 China

This paper reports on the synthesis of the nanocrystalline FeS2.via a solvent-thermal process. Using FeSO4 and NH2.SNH2.as precursors and polyvinyl- pyrrolidone (PVP) as a protective agent (dispersant), we have successfully synthesized nanocrystalline FeS2.both under acidic conditions (pH = 5) and under alkali conditions (pH = 10) at various temperatures and for different time in alcohol-water solution. X-ray diffraction (XRD), Transmission electron microscopy (TEM) and Ultraviolet Visible (UV-VIS) spectroscopy were used to characterize the morphology, structure, particle size and optical characterization of sample synthesized under acidic condition, and the XRD pattern was refined by Rietveld method. The experimental result shows that nanocrystalline FeS2.with uniform size, highly crystallized quality and excellent dispersivity has been synthesized at 2.0℃for 36 h.

关键词： FeS2 (Pyrite), solvothermal, PVP, the Rietveld method.

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Identifying the geographical origin and processing technology of Moyao(Myrrh)on the basis of near-infrared spectroscopy combined with chemometrics

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Journal of Traditional Chinese Medicine 2024年第3期44卷 505-514页

作者： XU Ningning YAN Ganming XU Fengjie DENG Linfeng QIAO xinjiang LU Changzheng CHENG Shaomin TCM Diagnosis Institute College of Traditional Chinese MedicineJiangxi University of Chinese MedicineNanchang 330004China TCM Processing Institute Pharmaceutical CollegeJiangxi University of Chinese medicineNanchang 330004China School of Electronic Information and Artificial Intelligence Shaanxi University of Science and TechnologyXi'an 710021China Jiangzhong Pharmaceutical Co. Ltd.Nanchang 330096China Jiangxi Guhan Refined Chinese Herbal Pieces Co. Ltd.Nanchang330041.China

OBJECTIVE:To evaluate the quality of Moyao(Myrrh)in the identification of the geographical origin and processing of the ***:Raw Moyao(Myrrh)and two kinds of Moyao(Myrrh)processed with vinegar from three countries were identified using near-infrared(NIR)spectroscopy combined with chemometric *** component analysis(PCA)was used to reduce the dimensionality of the data and visualize the clustering of samples from different categories.A classical chemometric algorithm(PLS-DA)and two machine learning algorithms[K-nearest neighbor(KNN)and support vector machine]were used to conduct a classification analysis of the near-infrared spectra of the Moyao(Myrrh)samples,and their discriminative performance was ***:Based on the accuracy,precision,recall rate,and F1 value in each model,the results showed that the classical chemometric algorithm and the machine learning algorithm obtained positive *** all of the chemometric analyses,the NIR spectrum of Moyao(Myrrh)preprocessed by standard normal variation or Multivariate scattering correction combined with KNN achieved the highest accuracy in identifying the geographical origins,and the accuracy of identifying the processing technology established by the KNN method after first-order derivative pretreatment was the *** best accuracy of geographical origin discrimination and processing technology discrimination were 0.9853 and 0.9706 ***:NIR spectroscopy combined with chemometric technology can be an important tool for tracking the origin and processing technology of Moyao(Myrrh)and can also provide a reference for evaluations of its quality and the clinical use.

关键词： Moyao(Myrrh) near-infrared spectroscopy geographical origin processing technology

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Local electronic structure and magnetic properties of 3d transition metal doped GaAs

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Science china(Physics,Mechanics & Astronomy) 2008年第5期51卷 470-480页

作者： LIN He1 & DUAN HaiMing2. Department of Chemistry,Institute of Applied Chemistry,xinjiang {2.,{2. 83.046,china 2.epartment of Physics,xinjiang {2.,{2. 83.046,china 1. Department of Chemistry Institute of Applied Chemistry Xinjiang University Urumqi 830046 China 2. Department of Physics Xinjiang University Urumqi 830046 China

The local electronic structure and magnetic properties of GaAs doped with 3d transition metal (Sc, Ti, V, Cr, Mn, Fe, Co, Ni) were studied by using discrete variational method (DVM) based on density functional theory. The calculated result indicated that the magnetic moment of transition metal increases first and then decreases, and reaches the maximum value when Mn is doped into GaAs. In the case of Mn concentration of 1.4%, the magnetic moment of Mn is in good agreement with the experimental result. The coupling between impure atoms in the system with two impure atoms was found to have obvious variation. For different transition metal, the coupling between the impure atom and the nearest neighbor As also has different variation.

关键词： diluted magnetic semiconductor density functional theory 3d transition metal cluster model electronic structure

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FeS_(2. (pyrite) electrodeposition thin films and study of growth mechanism

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Science china(Technological Sciences) 2005年第6期48卷 601-611页

作者： DONG Youzhong1, ZHENG Yufeng1, ZHANG Xiaogang2. DUAN He1, SUN Yanfei1 & CHEN Yanhua1 1. Department of Physics, xinjiang university,{2.,{2. 2. Institute of Applied Chemistry, xinjiang university,{2.,{2. 1. Department of Physics Xinjiang University 830046 Urumqi China 2. Institute of Applied Chemistry Xinjiang University 830046 Urumqi China

Ferrous sulfide (FeS) thin films were initially electrodeposited on indium-tin oxide (ITO) substrates in the aqueous solution containing iron, sulfur elements and then annealed in the sulfur atmosphere. Thereby, we successfully obtained the single-phased iron pyrite (FeS2. thin films with good quality. The experimental parameters for electrodeposition and the post-growth thermal-dynamical conditions have been calculated so that more details about the effect of thermal-dynamical conditions on the micromechanism concerned with the iron pyrite crystal growth as well as the properties of the samples have been discussed.

关键词： electrodeposition, FeS2 (pyrite), thin films, growth dynamics.

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The Silk Road and East-West Cultural Exchange

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china Book International 2024年第2期 52-57页

作者： Rong xinjiang Department of History Peking University Center for Ancient Chinese History Peking University British Academy Dunhuang and Turpan Society of china

To the east and south of china lies the ocean,to the west are deserts and mountains,and to the north are the Gobi Desert and forests,placing it in a relatively enclosed geographical environment,which is not conducive to communication with the outside ***,china has never been self-isolated;through both the terrestrial and maritime Silk Road,it has maintained extensive contact with the external world,both contributing to and absorbing *** the historical process of East-West cultural exchange,the Silk Road played an extremely important role.

关键词： Silk West maintained

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Ecological-breaking zone originates and its ecosystems reconstruction in arid area

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Journal of Environmental Sciences 1996年第2期8卷 203-211页

作者： Huang Peiyou Lu Zili(Biology Department of xinjiang university,urumqi {{2.,china) Biology Department Xinjiang University Urumqi 830046 China

In the process of arid land exploitation, the landscape of desert is divided into three types. Oasis is rising,the area of uneffected area keeps its original state,the serious degenerated area where is only limited between oasis and desert, but not overall. Its relationship with the neighbor region, the zone of ecological-breaking region or ecological rift valley is not successive. . Its ecological effect endangered the arid land overall. Rehabilitating vegetation is the basic measure for abatement. The authors proposed a new tactics that based on the properties of vegetation. Depending on the local water sources and partly regulating the composition of environmental factor to satisfy the requirement of desert community, the rehabilitate vegetation should be realized.

关键词： arid area ecological-breaking zone ecosystems reconstruction.

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Role of self-assembled molecules’anchoring groups for surface defect passivation and dipole modulation in inverted perovskite solar cells

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Chinese Physics B 2024年第10期33卷 108-115页

作者： Xiaoyu Wang Muhammad Faizan Kun Zhou xinjiang Wang Yuhao Fu Lijun Zhang Key Laboratory of Superhard Materials College of PhysicsJilin UniversityChangchun 130012China State Key Laboratory of Integrated Optoelectronics Key Laboratory of Automobile Materials of MOECollege of Materials Science and EngineeringJilin UniversityChangchun 130012China

Inverted perovskite solar cells have gained prominence in industrial advancement due to their easy fabrication,low hysteresis effects,and high *** these advantages,their efficiency is currently limited by excessive defects and poor carrier transport at the perovskite-electrode interface,particularly at the buried interface between the perovskite and transparent conductive oxide(TCO).Recent efforts in the perovskite community have focused on designing novel self-assembled molecules(SAMs)to improve the quality of the buried ***,a notable gap remains in understanding the regulation of atomic-scale interfacial properties of SAMs between the perovskite and TCO *** understanding is crucial,particularly in terms of identifying chemically active anchoring *** this study,we used the star SAM([2.(9H-carbazol-9-yl)ethyl]phosphonic acid)as the base structure to investigate the defect passivation effects of eight common anchoring groups at the perovskite-TCO *** findings indicate that the phosphonic and boric acid groups exhibit notable *** groups fulfill three key criteria:they provide the greatest potential for defect passivation,exhibit stable adsorption with defects,and exert significant regulatory effects on interface *** anchoring groups exhibit enhanced passivation capabilities for defect energy levels due to their superior Lewis base properties,which effectively neutralize local charges near *** various defect types,iodine vacancies are the easiest to passivate,whereas iodine-substituted lead defects are the most challenging to *** study provides comprehensive theoretical insights and inspiration for the design of anchoring groups in SAMs,contributing to the ongoing development of more efficient inverted perovskite solar cells.

关键词： inverted perovskite solar cell defect passivation self-assembled molecule interface engineering first-principles calculation

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THE NEAR-CRITICAL AND SUPER-CRITICAL ASYMPTOTIC BEHAVIOR IN THE THERMODYNAMIC LIMIT OF REVERSIBLE RANDOM POLYMERIZATION PROCESSES

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Acta Mathematica Scientia 2000年第3期20卷 380-389页

作者：韩东 Univ xinjiang Dept Math Urumqi 830046 Peoples R China

In this paper, the near-critical and super-critical asymptotic behavior of a reversible Markov process as a chemical model for polymerization was studied. The results of the present paper, together with an analysis of the sub-critical stage, establish the existence of three distinct stages (sub-critical, near-critical and super-critical stages) of polymerization (in the thermodynamic limit as N --> +infinity,),depending on the value of strength of the fragmentation reaction. These three stages correspond to the size of the largest length of polymers of size N to be itself of order log N, Nm/m+1 (m greater than or equal to 2. m not equal 4n, n greater than or equal to 1) and N, respectively.

关键词： polymerization Markov process limit behavior stationary distribution

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Impact Assessment and Protection of Outstanding Landscape Integrity in a Natural Heritage Site:Fairy Valley,Kanas Nature Reserve,xinjiang,china

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Journal of Mountain Science 2011年第1期8卷 46-52页

作者： HAN Fang1,2.YANG Zhaoping1,LIU Xinyu1,2.DI Feng3 1 {2. Institute of Ecology and Geography,Chinese Academy of Sciences,urumqi 830011,{2. 2.Graduate university of Chinese Academy of Sciences,Beijing 100049,{2. 3 {2. Department of Science and Technology,urumqi 830011,{2. xinjiang Institute of Ecology and Geography Chinese Academy of Sciences Urumqi China Graduate university of Chinese Academy of Sciences Beijing China xinjiang Department of Science and Technology Urumqi China

The essential purpose of the Convention Concerning the Protection of World Cultural and Natural Heritage is to protect the integrity of heritage *** landscape is the core embodiment of the aesthetic value of a natural heritage *** paper proposes a new assessment method from the point of view of the protection of heritage *** is used to measure the degree of outstanding landscape integrity under the human and natural impact in natural heritage *** paper employ three indices,a visual index of outstanding landscape,a harmony index of the artificial landscape and a disturbance index of damaged landscape,to measure the impact of landscape *** impact assessment model is based on a weighted combination of the three *** study site is the Fairy Valley,Kanas Nature Reserve,xinjiang Uygur Autonomous Region in northwest *** information employed is derived from field investigation and a Digital Elevation Model(DEM).A comprehensive evaluation of the Fairy valley was undertaken and it was determined that the outstanding landscape values are being *** protection methods are proposed to reduce the adverse effects and maintain landscape quality,thereby providing site managers with suggestions for the protection of natural heritage *** broadly,the paper contributes novel methods of landscape assessment applicable to natural protected areas.

关键词： Landscape integrity Landscape impact assessment Landscape protection Natural heritage site Kanas Nature Reserve xinjiang

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