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Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

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Frontiers of Mechanical Engineering 2024年第1期19卷 129-148页

作者： Tingke wu Zhuyong LIU Ziqi ma Boyang WANG Daolin ma Hexi YU Department of Engineering Mechanics School of Ocean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong UniversityShanghai 200240China MOE Key Laboratory of Hydrodynamics Shanghai Jiao Tong UniversityShanghai 200240China

Robots are playing an increasingly important role in engineering *** robots have promising applications in several fields due to their inherent advantages of compliance,low density,and soft interactions.A soft gripper based on bio-inspiration is proposed in this *** analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness *** investigate the grasping modes through a large deformation modeling approach,which is verified through *** characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics ***,the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft ***,a cushioning model of the soft gripper is proposed,and the effectiveness of cushioning is verified by grasping extremely sharp objects and living ***,we validate the advantages of the variable stiffness of the soft gripper,and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 *** to the unstructured nature of the engineering environment,the soft gripper can be applied in complex environments based on the abovementioned experimental ***,we design the soft robotics system with feedback capture based on the inspiration of human catching *** feasibility of engineering applications is initially verified through fast capture experiments on moving *** design concept of this robot can provide new insights for bionic machinery.

关键词： soft bionic gripper variable stiffness structure large deformation modeling feedback control soft robotic system

Direct suprafacial 1,3-hydrogen migration of 1,1-dimethyl-2-(9-phenanthryl)cyclopropane

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Acta Chimica Sinica(English Edition) 1987年第4期5卷 338-344页

作者： wu guo-Sheng ma Yun-Fei LI Zhen-Lian Shanghai Institute of Organic Chemistry,Academia Sinica,ShanghaiXU Jian-Hua Department of Chemistry,Nanjing University,Nanjing Shanghai Institute of Organic Chemistry Academia Sinica Shanghai Department of Chemistry Nanjing University Nanjing

Irradiation of the title compound with two D-labeled methyl groups gave 2-methyl-d3-4-（9-phenanthryl）-1-butene-d3,which was eluciated on the bases of the spectral evidences andchemical *** on the discussions of MO following and bond order change betweenthe designed basis orbital pairs on excitation,the most reasonable ring-opening mode of the titlecompound appeared to be the direct suprafacial 1,3-hydrogen migration.

关键词： Direct suprafacial 1,3-hydrogen migration of 1,1-dimethyl-2 phenanthryl)cyclopropane

machine learning-assisted efficient design of Cu-based shape memory alloy with specific phase transition temperature

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International Journal of Minerals,Metallurgy and materials 2024年第4期31卷 773-785页

作者： Mengwei wu Wei Yong Cunqin Fu Chunmei ma Ruiping Liu Department of materials Science and Engineering China University of Mining&Technology(Beijing)Beijing 100083China Institute for Advanced materials and Technology University of Science and Technology BeijingBeijing 100083China

The martensitic transformation temperature is the basis for the application of shape memory alloys(Smas),and the ability to quickly and accurately predict the transformation temperature of Smas has very important practical *** this work,machine learning(ML)methods were utilized to accelerate the search for shape memory alloys with targeted properties(phase transition temperature).A group of component data was selected to design shape memory alloys using reverse design method from numerous unexplored *** modeling and feature modeling were used to predict the phase transition temperature of the shape memory *** experimental results of the shape memory alloys were obtained to verify the effectiveness of the support vector regression(SVR)*** results show that the machine learning model can obtain target materials more efficiently and pertinently,and realize the accurate and rapid design of shape memory alloys with specific target phase transition *** this basis,the relationship between phase transition temperature and material descriptors is analyzed,and it is proved that the key factors affecting the phase transition temperature of shape memory alloys are based on the strength of the bond energy between *** work provides new ideas for the controllable design and performance optimization of Cu-based shape memory alloys.

关键词： machine learning support vector regression shape memory alloys martensitic transformation temperature

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Engineering W/O/W pickering emulsion for the enhanced antigen delivery and immune responses

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Particuology 2024年第9期92卷 224-233页

作者： Sihua wu Xiaonan Huang Yin ma Naoki Asakawa Yufei Xia State Key Laboratory of Biochemical Engineering Institute of Process EngineeringChinese Academy of SciencesBeijing100081China Key Laboratory of Biopharmaceutical Preparation and Delivery Chinese Academy of SciencesBeijing100190China Division of Molecular Science Graduate School of Science and TechnologyGunma University1-5-1Tenjin-choKiryu376-8515Japan Sinovac Biotech Ltd. Beijing100085China School of Chemical Engineering Nanjing Tech UniversityNanjing211816China School of Chemical Engineering University of Chinese Academy of SciencesBeijing100049China

Tumor immunotherapy,particularly cancer vaccines,holds promise for combating cancer by harnessing tailored immune responses against malignant ***,conventional approaches face challenges in efficiently delivering antigens for optimal immune *** adjuvants,like MF59,enhance cellular uptake but struggle to induce robust CD8^(+)T cell ***,we introduce a novel strategy employing a water-in-oil-in-water(W/O/W)multiple Pickering emulsion(mPE)for antigen *** mPE,utilizing biocompatible,pH-sensitive particles,encapsulates antigens within the inner water phase,ensuring enhanced intracellular processing and dictating the intracellular fate of antigens for improved *** vitro and in vivo studies demonstrated that mPEs induced robust dendritic cells activation and antigen cross-presentation,leading to a significantly enhanced immune ***,calcium phosphate-stabilized mPE(CaP-mPE)illustrated the more robust IFN-γ^(+)T cell *** comparison with traditional surfactant-stabilized multiple emulsions,CaP-mPE significantly inhibit tumor growth and effectively prolong the survival of tumor-bearing *** innovative approach offers a promising avenue for the development of effective cancer vaccines with potent cellular immune responses.

关键词： Cancer vaccine Multiple pickeringemulsion Adjuvant Antigen delivery Anti-tumor response

Numerical Analysis on Charging Performance of the macro-Encapsulating Combined Sensible-Latent Heat Storage System with Structural Parameters

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Journal of Thermal Science 2024年第3期33卷 1026-1036页

作者： WANG Wei PAN Zhenfei WANG Jingfu wu Yuting ma Chongfang Key Laboratory of Enhanced Heat Transfer and Energy Conservation Ministry of EducationCollege of Energy and Power EngineeringBeijing University of TechnologyBeijing100124China Key Laboratory of Heat Transfer and Energy Conversion Beijing MunicipalityCollege of Energy and Power EngineeringBeijing University of TechnologyBeijing100124China

For combined sensible-latent heat storage system(CSLHS)(termed as the hybrid configuration),macro encapsulation can effectively solve the leakage problem of ***,due to the poor thermal conductivity of PCMs,the charging performance of the hybrid configuration slightly increases compared to the solid structure(with only sensible materials).Meanwhile,the natural convection in the PCMs zone could improve the charging ***,how to improve natural convection intensity is a key issue for the CSLHS by macro *** is found that adding fins can significantly enhance natural convection and accelerate the melting of *** this paper,we proposed the hybrid configuration with fins built-in by macro encapsulation,and analyzed its charging performance with different fin structural parameters in the PCM zone by CFD *** the case,the sensible heat storage material is high-temperature concrete and the PCM is a low-melting-point mixed molten *** analyzed the effects of fin number,fin length and fin thickness on the charging performance of the hybrid configuration *** the result,the charging performance increases with the fin number,but the increase rate gradually *** the fin number is 6,the charging performance increases by 20.18%compared to the situation without *** charging performance increases gradually with the fin *** with the hybrid configuration without fin,for each 10 mm increase in fin length,its charging performances increase by 4.09%,5.26%,7.02%,8.77%,11.70%,and 15.79%,*** from number and length of fins,the effect of thickness on the charging performance is very *** the fin thickness increased from 1 mm to 4 mm,the charging performance only increased by 2.3%.It indicates that the main reason for the improving the charging performance is to increase the natural convection intensity by dividing the PCM zone through *** results show that the charging performance

关键词： macro-encapsulation hybrid configuration natural convection structural parameter charging performance

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Advancements and Prospects in Continuous Wave Time-resolved Electron Paramagnetic Resonance

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Chemical Research in Chinese Universities 2024年第5期40卷 798-805页

作者： ZHANG Shixue ZHOU Shengqi wu Hao guo Xingwei Center of Basic Molecular Science(CBMS) Department of ChemistryTsinghua UniversityBeijing100084P.R.China

This brief review highlights the techniques and diverse applications of time-resolved electron paramagnetic resonance(TREPR)spectroscopy,underscoring its essential role in elucidating the structures,spin dynamics,and reactivities of open-shell ***,we discuss the limitations of traditional TREPR methodologies,particularly their challenges in directly observing reactive radical intermediates under real-world reaction ***,we present the latest advancements in TREPR technology developed in our laboratory,specifically ultrawide single-sideband phase-sensitive detection(U-PSD)TREPR,highlighting its significant impact and tremendous potential in advancing free radical chemistry *** envision promising future applications of TREPR and its pivotal role in enhancing our understanding of mechanisms involved in complex radical processes and photocatalysis.

关键词： Time-resolved electron paramagnetic resonance(TREPR) Ultrawide single-sideband phase-sensitive detection(U-PSD) Spin chemistry Radical chemistry Photochemistry

Analysis of nonlinear multi-field coupling responses of piezoelectric semiconductor rods via machine learning

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International Journal of Smart and Nano materials 2024年第1期15卷 62-74页

作者： Chuwei wu Zhengguang Xiao Yuting guo Chunli Zhang Department of Engineering Mechanics Zhejiang UniversityHangzhouZhejangChina Huanjiang Laboratory ZhujiChina

Piezoelectric semiconductors(PSs)have widespread applications in semiconductor devices due to the coexistence of piezoelec-tricity and semiconducting *** is very important to conduct a theoretical analysis of PS ***,the present of nonlinearity in the partial differential equations(PDEs)that describe those multi-feld coupling mechanical behaviors of PSs poses a significant mathematical challenge when studying these PS *** this paper,we present a novel approach based on machine learning for solving multi-field coupling problems in PS structures.A physics-informed neural networks(PINNs)is constructed for predicting the multi-field coupling behaviors of PS rods with extensional *** utilizing the proposed PINNs,we evaluate the multi-field coupling responses of a ZnO rod under static and dynamic axial *** results demonstrate that the proposed PINNs exhibit high accuracy in solving both static and dynamic problems associated with Ps *** provides an effective approach to predicting the nonlinear multi-feld coupling phe-nomena in PS structures.

关键词： PS rod multi-feld coupling response machine learning PINNs

A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-guo wu Guang-Ren DUAN Yu WANG Jie ZHANG School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen) HIT wuhu Robot Technology Research Institute Center for Control Science and Technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

Investigation on the Deformation and Failure Patterns of Loess Cut Slope Based on the Unsaturated Triaxial Test in Yan'an,China

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Journal of Earth Science 2024年第1期35卷 235-247页

作者： Lina ma Shengwen Qi Songfeng guo Qiangbing Huang Xiaokun Hou Key Laboratory of Shale Gas and Geoengineering Institute of Geology and GeophysicsChinese Academy of SciencesBeijing 100029China University of Chinese Academy of Sciences Beijing 100049China Innovation Academy for Earth Science Chinese Academy of SciencesBeijing 100029China Department of Geological Engineering Chang'an UniversityXi'an 710054China

The large-scale implementation of the Gully Stabilization and Land Reclamation(GSLR)project induces various failures of loess slopes due to excavation in Yan'an,***,the deformation and failure behavior of these excavated loess slopes have not been fully *** this study,field investigation was undertaken for analyzing the distributions and failure features of excavation-induced loess slope *** is found that plastic failure mainly occurs in Q_(3) loess layers and brittle failure in Q_(2).To understand the underlying failure mechanism,a series of triaxial shear tests were conducted on intact Q_(3) and Q_(2) loess samples that with different water contents,namely natural water content(natural),dry side of the natural value(drying 5%),and wet side(wetting 5%).The characteristics of stress-strain curves and failure modes of the samples were *** show that the stress-strain curves of Q_(2) samples are dominated by strain-softening characteristics,while Q_(3) samples mainly exhibit strain-harden features except in the drying ***,shear failures of Q_(3) specimens are mainly caused by shear crack planes(single,X or V-shaped).For Q_(2) loess,the dominance of tensile cracks is observed on the surface of damaged *** disclose the different failure modes of excavated slopes located in different strata,that is,the arc sliding failure of Q_(3) loess slopes and the stepped tensile failure of Q_(2) loess slopes,and are helpful in the design and management of the ongoing GSLR projects in the Loess Plateau.

关键词： loess slope slope stability failure patterns deformation

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