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Data-driven electrical resistance tomography for robotic large-area tactile sensing

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Science China(Information Sciences) 2024年第9期67卷 336-337页

作者： Wendong ZHENG huaping liu Xiaofeng liu Fuchun SUN School of Electrical Engineering and Automation Tianjin University of Technology Department of Computer Science and Technology Tsinghua University Key Laboratory of Maritime Intelligent Cyberspace Technology (Hohai University) Ministry of Education

Tactile sensing plays a crucial role in enabling robots to safely interact with objects in dynamic environments [1].Given that potential physical contact can occur at any location during robot interaction, there is a ... 详细信息

关键词： Robot applications

Experimental determination of the Young’s modulus of individual single-walled carbon nanotubes with single chirality

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Nano Research 2024年第8期17卷 7522-7532页

作者： Jianlin Sun Xiao Zhang Yanchun Wang Mingming Li Xiaojun Wei huaping liu Weiya Zhou Beijing National Laboratory for Condensed Matter Physics and Institute of PhysicsChinese Academy of SciencesBeijing 100190China School of Physical Sciences and College of Materials Science and Optoelectronic Technology University of Chinese Academy of SciencesBeijing 100049China Songshan Lake Materials Laboratory Dongguan 523808China Beijing Key Laboratory for Advanced Functional Materials and Structure Research Beijing 100190China

One-dimensional carbon nanotube(CNT)exhibits excellent mechanical properties and is considered to be an ideal candidate material for the space ***,subtle changes in its chirality strongly affect its physical and chemical properties,including mechanical properties(such as Young's modulus,YM).Theoretical studies reveal that the YMs of perfect single-walled carbon nanotubes(SWCNTs)are in the order of TPa and related to their ***,due to the lack of SWCNTs samples with well-defined structures and the difficulties in mechanical tests on individual SWCNTs,the theoretical correlations between YM and structure of SWCNTs have not been verified and are still in debate,which directly influences the practical utilization of the excellent mechanical properties of *** this work,we have developed an experimental method to measure the YM of an individual micrometer-scale suspended CNT by atomic force microscopy.A distinct regularity is found between the YM and chirality(i.e.,chiral angle and diameter)of SWCNT in the experiment for the first *** comparing the YMs of SWCNTs with similar diameters and different chiral angles,it manifests that the SWCNT with a near zigzag configuration has a larger *** finding suggests that the effect of SWCNT’s structures on the YMs cannot be *** developed method of measuring YMs of SWCNTs will be valuable for further experimental research on the inherent physical and chemical properties of SWCNTs.

关键词： Young's modulus single-walled carbon nanotubes single chirality atomic force microscopy

Wide temperature range,air stable,transparent,and self-powered photodetectors enabled by a hybrid film of graphene and singlewalled carbon nanotubes

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Nano Research 2024年第7期17卷 6582-6593页

作者： Ying Yue Di Zhang Pengyu Wang Xin Wu Yuejuan Zhang Yanchun Wang Xiao Zhang Xiaojun Wei huaping liu Weiya Zhou Beijing National Laboratory for Condensed Matter Physics and Institute of PhysicsChinese Academy of SciencesBeijing 100190China School of Physical Sciences and College of Materials Science and Optoelectronic Technology University of Chinese Academy of SciencesBeijing 100049China Songshan Lake Materials Laboratory Dongguan 523808China Beijing Key Laboratory for Advanced Functional Materials and Structure Research Beijing 100190China

Transparent photovoltaic devices(TPVDs)have attracted increasing attention in emerging electronic *** the application scenarios extend,there raise higher requirements regarding the stability and operating temperature range of *** this work,a unique preparation strategy is proposed for air stable TPVD with a wide operating temperature range,i.e.,a nanoscale architecture termed as H-TPVD is constructed that integrates a free-standing and highly transparent conductive hybrid film of graphene and single-walled carbon nanotubes(G-SWNT TCF for short)with a metal oxide NiO/TiO_(2)*** preparation approach is suitable for scaling *** to the excellent transparent conductivity of the freestanding G-SWNT hybrid film and the ultrathin NiO/TiO_(2)heterojunction(100 nm),H-TPVD selectively absorbs the ultraviolet(UV)band of sunlight and has a transparency of up to 71%in the visible *** integrated nanoscale architecture manifests the significant holecollecting capability of the G-SWNT hybrid film and the efficient carrier generation and separation within the ultrathin NiO/TiO_(2)heterojunction,resulting in excellent performance of the H-TPVD with a specific detectivity of 2.7×10^(10) ***,the freestanding G-SWNT TCF is a super stable and non-porous two-dimensional film that can insulate gas molecules,thereby protecting the surface properties of NiO/TiO_(2)heterojunctions and enhancing the stability of *** subjected to 20,000 cycles and storage in air for three months,the performance parameters such as photo-response signal,output power,and specific detectivity show no noticeable *** particular,the as-fabricated self-powered H-TPVD can operate over a wide temperature range from −180 to 300℃,and can carry out solar-blind UV optical communication in this *** addition,the 4×4 array H-TPVD demonstrates clear optical *** results make it possible for H-TPVD to expand its potential application scenarios.

关键词： transparent photovoltaic devices hybrid films of graphene and single-walled carbon nanotubes metal oxides stability wide temperature range

Highly selective growth of(6,5)single-walled carbon nanotubes from sigma phase alloy catalyst

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Nano Research 2024年第3期17卷 1999-2003页

作者： Liantao Xin Chen Ma Qianru Wu Shaokang liu Linhai Li Xiuyun Zhang liu Qian Maoshuai He Dong Li Fangqian Han Shulan Hao Lihu Feng Yahan Li huaping liu Lili Zhang Chang liu Jin Zhang College of Chemistry and Molecular Engineering Qingdao University of Science and TechnologyQingdao 266042China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190China College of Physics Science and Technology Yangzhou UniversityYangzhou 225002China Center for Nanochemistry Beijing Science and Engineering Center for NanocarbonsBeijing National Laboratory for Molecular SciencesCollege of Chemistry and Molecular EngineeringPeking UniversityBeijing 100871China

The chirality structure of a single-walled carbon nanotube(SWNT)strongly depends on the composition of catalyst used in the chemical vapor deposition *** this study,we develop a porous magnesia supported manganese-rhenium(MnRe/MgO)catalyst for chirality-selective synthesis of *** characterizations reveal that(6,5)tubes with a selectivity higher than 70%are grown from the Re-rich MnRe/MgO *** comparing the SWNT growth results with those of monometallic Mn or Re,the formation of sigma phase,an intermetallic compound occurring in transition-metal alloy systems,is revealed to be crucial for the dominant synthesis of(6,5)*** work not only extends the application of sigma phase alloy for catalytic synthesis of SWNTs,but also sheds lights on the growth of SWNTs with a high chirality selectivity.

关键词： single-walled carbon nanotubes sigma phase manganese-rhenium catalyst selective growth transition-metal alloy

Robust tube-based MPC with smooth computation for dexterous robot manipulation

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Science China(Information Sciences) 2024年第11期67卷 252-268页

作者： Yu LUO Tianying JI Fuchun SUN Qie SIMA huaping liu Mingxuan JING Jianwei ZHANG Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Department of Informatics University of Hamburg

Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.

关键词： dexterous robot manipulation model predictive control smooth computation

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税收赋能新时代西部大开发的逻辑与路径思考

税务研究 2024年第8期 17-23页

作者：柳华平程岩周可芝国家税务总局成都市税务局西南交通大学希望学院商学院

西部地区在全国改革发展稳定大局中举足轻重。赋能西部大开发是高质量推进中国式现代化税务实践的应有之义。针对现行税收政策对西部大开发存在的问题,完善路径应包括:立足赋能产业转型升级,完善税制结构;立足赋能筑牢国家生态安全屏障... 详细信息

西部地区在全国改革发展稳定大局中举足轻重。赋能西部大开发是高质量推进中国式现代化税务实践的应有之义。针对现行税收政策对西部大开发存在的问题,完善路径应包括:立足赋能产业转型升级,完善税制结构;立足赋能筑牢国家生态安全屏障,健全绿色税制体系;立足赋能高水平对外开放,优化税收营商环境;立足赋能推进新型城镇化和乡村全面振兴,健全区域税收政策。

关键词：税收西部大开发区域经济高质量发展

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基于YOLOX的类增量印刷电路板缺陷检测方法

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智能系统学报 2024年第4期19卷 1061-1070页

作者：吴瑞林葛泉波刘华平南京信息工程大学自动化学院清华大学计算机科学与技术系

为了应对更加实际的增量式印刷电路板缺陷检测场景，本文将知识蒸馏与YOLOX相结合，提出了一种基于YOLOX的类增量印刷电路板缺陷检测方法。在只使用新训练数据的情况下，模型能够检测出所有学过的缺陷类型。通过对模型的输出特征和中间... 详细信息

为了应对更加实际的增量式印刷电路板缺陷检测场景，本文将知识蒸馏与YOLOX相结合，提出了一种基于YOLOX的类增量印刷电路板缺陷检测方法。在只使用新训练数据的情况下，模型能够检测出所有学过的缺陷类型。通过对模型的输出特征和中间特征使用知识蒸馏来促进旧缺陷类别知识的传递，使得学生模型能够有效保留教师模型在旧缺陷类别上的检测性能。实验结果表明，本文方法能够显著缓解增量学习过程中的灾难性遗忘问题，在两阶段增量场景下，模型对所有缺陷的平均检测精度为88.5%，参数量为25.3×106，检测速度为39.8 f/s，便于工业设备部署的同时，可以满足增量式检测场景下印刷电路板(printed circuit board,PCB)质检的检测精度和检测速度要求。

关键词：深度学习印刷电路板类增量增量学习缺陷检测目标检测动态检测知识蒸馏灾难性遗忘

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喷水推进两栖车水上自航性能CFD模拟研究

机械工程学报 2024年第14期60卷 387-395页

作者：王胜一胡少雄董楠刘华坪王凯华中科技大学航空航天学院武汉430074 武汉第二船舶设计研究所武汉430064

针对两栖车与泵推进器推力的动态耦合模拟问题,建立一种结合非惯性系的泵转子/车体流固耦合高效模拟方法;提出两种在指定航速下获得泵推进器匹配转速、车体自航状态及其水动性能的计算流体力学(Computational fluid dynamics,CFD)模拟... 详细信息

针对两栖车与泵推进器推力的动态耦合模拟问题,建立一种结合非惯性系的泵转子/车体流固耦合高效模拟方法;提出两种在指定航速下获得泵推进器匹配转速、车体自航状态及其水动性能的计算流体力学(Computational fluid dynamics,CFD)模拟方法。将上述方法在Simcenter STAR-CCM+软件中进行运用,得到在不同指定航速下的两栖车自航静水阻力、姿态及泵推进器匹配转速的规律,并通过试验数据验证数值方法的准确性。同时,为减小两栖车水动阻力、降低推进泵转速,提出一种在原型车前轮底部增加挡板的减阻方案,并通过数值方法分析挡板对车体减阻及推进泵匹配转速的影响规律。

关键词：两栖车喷水推进泵流固耦合仿真自航性能

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工程管理系统电子文件单套制归档的探索与实践

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办公自动化 2024年第5期29卷 66-68页

作者：刘华萍中石化(天津)石油化工有限公司天津300271

文章阐述了工程管理系统电子文件单套制归档的必要性,并结合中国石化工程管理系统电子文件单套制归档实际,分析了工程管理系统电子文件单套制归档技术难点、技术路线和实施效果,并为业务系统电子文件单套制归档提供几点启示。

关键词：工程管理系统单套制归档

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