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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

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Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： HU yu TANG Wei QU Yang XU HuXiu KRAMARENKO yu.elena ZOU Jun State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China Institute of Process Equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia Enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

Effects of site preparation methods on soil physical properties and outplanting success of coniferous seedlings in boreal forests

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Journal of Forestry Research 2024年第2期35卷 70-80页

作者： Aleksey S.Ilintsev elena N.Nakvasina Alexander P.Bogdanov Northern Research Institute of Forestry 13 Nikitova Str.Arkhangelsk 163062Russian Federation Department of Silviculture and Forest Management Northern(Arctic)Federal University Named After M.V.LomonosovSevernoy Dviny Emb.17Arkhangelsk 163002Russian Federation

This study assessed the effect of patch scarification and mounding on the physical properties of the root layer and the success of tree planting in various types of *** study was conducted on 12 forest sites in taiga forests of the European part of Russia.A total of 54 plots were set up to assess seedling survival;root collar diameter,height,and heigh increment were measured for 240 seedlings to assess *** the rooting layer,240 soil samples were taken to determine physical *** study showed that soil treatment methods had no effect on bulk density and total porosity in Cladina ***,reduced soil moisture was noted,particularly in mounds,resulting in increased *** Myrtillus sites,there were increased bulk density,reduced soil moisture,and total porosity in the *** treatment in Polytrichum sites resulted in reduced soil moisture and increased aeration *** the Myrtillus and Polytrichum sites,patch scarification had no effects on physical *** Polytrichum sites,survival rates,heights,and heigh increments of bareroot Norway spruce seedlings in mounds were higher than in patches;however,the same did not apply to *** Cladina and Myrtillus sites,there was no difference in growth for bareroot and containerised seedlings with different soil *** conditions and soil types should be considered when applying different soil treatment methods to ensure high survival rates and successful seedling growth.

关键词： Boreal forests Mechanical site preparation Patch scarification Mounding Soil properties Containerised seedlings Bareroot seedlings

Reduction of CeO2 in composites with transition metal complex oxides under hydrogen containing atmosphere and its correlation with catalytic activity

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Frontiers of Chemical Science and Engineering 2013年第3期7卷 249-261页

作者： elena yu. KONYSHEVA School of Chemistry University of St Andrews KY169ST St Andrews Fife UK Department of Chemistry Xi'an Jiaotong-Liverpool University Suzhou 215123 China

Reduction behavior of pure and doped CeO2, the multi-phase ***2, ***0.2MnO3 . xCeO2, and ***2 composites, was studied under hydrogen containing atmosphere to address issues related to the improvement of electrochemical and catalytic performance of electrodes in fuel cells. The enhanced reduction of cerium oxide was observed initially at 800~C in all composites in spite of the presence of highly reducible transition metal cations that could lead to the increase in surface concentration of oxygen vacancies and generation of the electron enriched surface. Due to continuous reduction of cerium oxide in La0.6Sr0.4CoO3 ＂x- CeO2 and ***3 ＂xCeO2 （up to 10 h） composites the redox activity of the Ce4＋/Ce3＋ pair could be suppressed and additional measures are required for reversible spontaneous regeneration of Ce4＋. After 3 h exposure to H2-Ar at 800~C the reduction of cerium oxides and perovskite phases in La0.95Ni0.6Fe0.403 ＂xCeO2 com- posites was diminished. The extent of cerium oxide involvement in the reduction process varies with time, and depends on its initial deviation from oxygen stoichiometry （that results in the larger lattice parameter and the longer pathway for O2 transport through the fluorite lattice）, chemical origin of transition metal cations in the perovskite, and phase diversity in multi-phase composites.

关键词： reduction of cerium oxide composites perovskites catalyst under hydrogen containing atmosphere

Influence of Pt/Pd state on ceria-based support in CO oxidation

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Journal of Rare Earths 2023年第12期41卷 1963-1968,I0005页

作者： Igor V.Zagaynov elena yu.Liberman Alexander V.Naumkin A.A.Baikov Institute of Metallurgy and Materials Science MoscowRussia D.I.Mendeleev University of Chemical Technology of Russia MoscowRussia A.N.Nesmeyanov Institute of Organoelement Compounds MoscowRussia

Noble metal(M:Pt,Pd,PtPd) supported on ceria system catalysts were *** oxidized and reduced forms of the active component were examined in CO *** catalysts become more active after a reduction pretreatment,which shifts the temperature of CO *** of the data obtained from characterization techniques indicates that the strong interaction of metal ions with the support prevent the reduction of the initial MO_(x)to metallic *** formation of M-ceria interfaces efficiently boosts the oxygen activation during CO oxidation,leading to the formation of chemisorbed O on M and the regeneration of the ceria lattice oxygen,thus greatly improving the catalytic performance.

关键词： Ceria Platinum Palladium CO oxidation Rare earths

Size-dependent gene delivery of amine-modified silica nanoparticles

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Nano Research 2016年第2期9卷 291-305页

作者： Meihua yu yuting Niu Jun Zhang Hongwei Zhang Yannan Yang elena Taran Siddharth Jambhrunkar Wenyi Gu Peter Thorn Chengzhong yu Australian Institute for Bioengineering and Nanotechnology The University of Queensland Brisbane QLD 4072 Australia Australian National Fabrication Facility-QLD Node Brisbane QLD 4072 Australia School of Biomedical Sciences The University of Queensland Brisbane QLD 4072 Australia

Silica-based nanoparticles are promising carriers for gene delivery applications. To gain insights into the effect of particle size on gene transfection efficiency, amine-modified monodisperse St6ber spheres （NH2-SS） with diameters of 125, 230, 330, 440, and 570 nm were synthesized. The in vitro transfection efficiencies of NH2-SS for delivering plasmid DNA encoding green fluorescent protein （GFP）（pcDNA3-EGFP, abbreviated as pcDNA, 6.1 kbp） were studied in HEK293T cells. NH2-SS with a diameter of 330 nm （NH2-SS330） showed the highest GFP transfection level compared to NH2-SS particles with other sizes. The transfection efficiency was found as a compromise between the binding capacity and cellular uptake performance of NH2-SS330 and pcDNA conjugates. NH2-SS330 also demonstrated the highest transfection efficiency for plasmid DNA （pDNA） with a bigger size of 8.9 kbp. To our knowledge, this study is the first to demonstrate the significance of particle size for gene transfection efficiency in silica-based gene delivery systems. Our findings are crucial to the rational design of synthetic vectors for gene therapy.

关键词： silica nanoparticles gene delivery plasmid DNA particle sizes cellular uptake

3D model of Svecofennian Accretionary Orogen and Karelia Craton based on geology,reflection seismics,magnetotellurics and density modelling:Geodynamic speculations

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Geoscience Frontiers 2020年第3期11卷 999-1023页

作者： Michael V.Mints Victor N.Glaznev Olga M.Muravina elena yu Sokolova Geological Institute RASMoscowRussia Voronezh State University VoronezhRussia Schmidt Institute of Physics of the Earth RASMoscowRussia All-Russian Research Geological Oil Institute MoscowRussia

A 3D model of deep crustal structure of the Archaean Karelia Craton and late Palaeoproterozoic Svecofennian Accretionary Orogen including the boundary zone is *** model is based on the combination of data from geological mapping and reflection seismic studies,along profiles 1-EU,4 B,FIRE-1-2 a-2 and FIRE-3-3 a,and uses results of magnetotelluric soundings in southern Finland and northern Karelia.A seismogeological model of the crust and crust-mantle boundary is compared with a model of subhorizontal velocity-density layering of the *** TTG-type crust of the Palaeoarchaean and Mesoarchaean microcontinents within the Karelia Craton and the Belomorian Province are separated by gently dipping greenstone belts,at least some of which are *** structure of the crust was determined mainly by Palaeoproterozoic tectonism in the intracontinental settings modified by a strong collisional compression at the end of the *** insights into structure,origin and evolution of the Svecofennian Orogen are *** accretionary complex is characterized by inclined tectonic layering:the tectonic sheets,~15 km thick,are composed of volcanic-sedimentary rocks,including electro-conductive graphite-bearing sedimentary rocks,and electro-resistive granitoids,which plunge monotonously and consecutively *** reaching the level of the lower crust,the tectonic sheets of the accretionary complex lose their distinct *** the seismic reflection pattern they are replaced by a uniform acoustically translucent medium,where separate sheets can only be traced *** crust-mantle boundary bears a diffuse character:the transition from crust to mantle is recorded by the disappearance of the vaguely drawn boundaries of the tectonic sheets and in the gradual transition of acoustically homogeneous and translucent lower crust into transparent *** the effect of endogenic heat flow,the accretionary complex underwent high-temperatu

关键词： Reflection seismics Magnetotellurics Svecofennian accretionary Orogen Svecofennian Ocean 3D crustal model Velocity-density layering

Dormant stages of crustaceans as a mechanism of propagation in the extreme and unpredictable environment in the Crimean hypersaline lakes

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Chinese Journal of Oceanology and Limnology 2015年第6期33卷 1362-1367页

作者： Nickolai V.SHADRIN elena V.ANUFRIIEVA Francisco AMAT Oleg yu.EREMIN MLR Key Laboratory of Saline Lake Resources and Environments Institute of Mineral Resources Institute of Marine Biological Research of RAS Instituto de Acuicultura de Torre de la Sal (CSIC)

A pool of dormant stages of planktonic organisms in saline lakes is a substantial component in the plankton communities;we need to take it into account to understand plankton *** water bodies in Crimea,the largest peninsula in the Black Sea,constitute a very characteristic and peculiar habitat type in the *** examined the presence of crustacean resting stages in sediments of dried up sites of the Crimean hypersaline *** samples were taken in 9 different *** performed on the hatching of these resting stages showed the presence of Moina salina(Cladocera),parthenogenetic Artemia and Artemia urmiana(Anostraca),Eucypris mareotica( inflata)(Ostracoda),and Cletocamptus retrogressus(Harpacticoida).Comparing the experimental results obtained with clean dried brine shrimp cysts and those kept in sediment samples,it was noted that clean cysts hatched much faster than those from sediments *** components in bottom sediments slow down and desynchronize hatching from resting eggs in different groups of *** sediments of different lakes inhibited the nauplii output from Artemia and ostracod resting eggs to different *** data are needed before we can discuss the reasons of this *** nonsynchronous output of active stages from the bottom resting ones may be an adaptation that allows crustacean species to exist in extreme and unpredictably changing environments,avoiding the risk that all may emerge at once under unsuitable conditions.

关键词： resting stages hypersaline waters Crustacea Crimea sediment

The potential of energy cooperation between China and Australia under the Belt and Road Initiative

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Economic and Political Studies 2022年第4期10卷 369-386页

作者： Qinhua Xu Jishuang yu Xunpeng Shi elena Collinson National Academy of Development and Strategy and School of International StudiesRenmin University of ChinaBeijingP.R.China School of Finance Renmin University of ChinaBeijingP.R.China Australia–China Relations Institute University of Technology SydneySydneyAustralia

While there is a proliferation of studies on China’s Belt and Road Initiative(BRI),there is a gap in the literature in terms of an exploration of the costs and benefits from the perspective of the energy sector,in both the areas of sectoral development and energy *** paper uses Australia as a case *** paper is the first to quantify the impact of the BRI in the energy sector,and the analysis informs the current debates on the BRI in *** find that energy cooperation under the BRI enhances the performance of energy companies,but the Chinese energy investment in Australia faces mounting *** suggest some areas for cooperation and such cooperation could be extended to third *** the increasing trade and political tensions,the two countries need continued,level-headed discussions and debates about the potential cooperation areas at all levels.

关键词： Belt and Road Initiative energy security energy investment energy cooperation China–Australia relationship

The co-effect of image resolution and crown size on deep learning for individual tree detection and delineation

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International Journal of Digital Earth 2023年第1期16卷 3753-3771页

作者： Zhenbang Hao Lili Lin Christopher J.Post elena A.Mikhailova Kunyong yu Huirong Fang Jian Liu Zhangzhou Institute of Technology ZhangzhouPeople’s Republic of China College of Biological Science and Biotechnology Minnan Normal UniversityZhangzhouPeople’s Republic of China Department of Forestry and Environmental Conservation Clemson UniversityClemsonSCUSA University Key Lab for Geomatics Technology and Optimized Resources Utilization in Fujian Province FuzhouPeople’s Republic of China

Individual tree detection and delineation(ITDD)is an important subject in forestry and urban *** study represents the first research to propose the concept of crown resolution to comprehensively evaluate the co-effect of image resolution and crown size on deep *** images with different resolutions were derived from a DJI Unmanned Aerial Vehicle(UAV),and 1344 manually delineated Chinese fir(Cunninghamia lanceolata(Lamb)Hook)tree crowns were used for six training and validation mask region-based convolutional neural network(Mask R-CNN)models,while additional 476 delineated tree crowns were reserved for *** overall detection accuracy,the influence of different crown sizes,and crown resolutions were calculated to evaluate model performance accuracy with different image resolutions for *** show that the highest accuracy was achieved when the crown resolution was between 800 and 12800 pixels/*** accuracy of ITDD was impacted by crown resolution,and it was unable to effectively identify Chinese fir when the crown resolution was less than 25 pixels/tree or higher than 12800 pixels/*** study highlights crown resolution as a critical factor affecting ITDD and suggests selecting the appropriate resolution based on the target detected crown size.

关键词： Mask R-CNN instance segmentation UAV image resolution crown-like characteristics