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Design and simulation of an integrated end-effector for picking kiwifruit by robot

Information Processing in Agriculture 2020年第1期7卷 58-71页

作者： Longtao Mu Gongpei Cui yadong liu Yongjie Cui Longsheng Fu Yoshinori Gejima College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingShaanxi 712100China China Aviation Lithium Battery Research Institute Co. LtdChangzhouJiangsu 213200China Key Laboratory of Agricultural Internet of Things Ministry of Agriculture and Rural AffairsYanglingShaanxi 712100China Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service YanglingShaanxi 712100China Faculty of Agriculture University of MiyazakiMiyazaki 8892192Japan

The harvesting of fresh kiwifruit is a labor-intensive operation that accounts for more than 25%of annual production *** harvesting technologies are thus being developed to reduce labor requirements for harvesting *** improve the efficiency of a harvesting robot for picking kiwifruit,we designed an end-effector,which we report herein along with the results of tests to verify its *** using the established method of automated picking discussed in the literature and which is based on the characteristics of kiwifruit,we propose an automated method to pick kiwifruit that consists of separating the fruit from its stem on the *** method is experimentally verified by using it to pick clustered kiwifruit in a scaffolding canopy *** the experiment,the end-effector approaches a fruit from below and then envelops and grabs it with two bionic *** fingers are then bent to separate the fruit from its *** grabbing,picking,and unloading processes are integrated,with automated picking and unloading performed using a connecting rod linkage following a trajectory *** trajectory was analyzed and validated by using a simulation implemented in the software Automatic Dynamic Analysis of Mechanical Systems(ADAMS).In addition,a prototype of an end-effector was constructed,and its bionic fingers were equipped with fiber sensors to detect the best position for grabbing the kiwifruit and pressure sensors to ensure that the damage threshold was respected while *** for size and shape were incorporated by following a trajectory groove from grabbing and picking to *** end-effector separates clustered kiwifruit and automatically grabs individual *** takes on average 4–5 s to pick a single fruit,with a successful picking rate of 94.2%in an orchard test featuring 240 *** study shows the grabbing–picking–unloading robotic end-effector has significant potential to facilitate the harvesting of kiwif

关键词： Kiwifruit End-effector Harvesting robot Trajectory model Simulation analysis

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A novel two-dimensional nanoheterojunction via facilitating electron–hole pairs separation for synergistic tumor phototherapy and immunotherapy

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Nano Research 2023年第5期16卷 7148-7163页

作者： Xiaoge Zhang Xiaomei Chen Peng Zhang Meiting Li Miao Feng Yaqian Zhang Lili Cheng Junjie Tang Langtao Xu yadong liu Zhuoyin liu Zhong Cao Jie liu School of Biomedical Engineering Shenzhen Campus of Sun Yat-sen UniversityShenzhen 518107China

Nanomaterial-mediated phototherapy in tumor treatment has been developed rapidly in the past few years due to its noninvasive ***,the low energy conversion efficiency and high recombination rate of the photo-triggered electron–hole pairs of single nano-agent limit the phototherapy ***,we constructed a novel two-dimensional nanoheterojunction MoS_(2)-Ti_(3)C_(2)(MT),which allowed a high photothermal conversion efficiency(59.1%)as well as an effective separation of photo-triggered electron–hole pairs for reactive oxygen species(ROS)generation under single 808 nm laser *** the modification of the mitochondrial targeted molecule(3-proxycarboxylic)triphenyl phosphine bromide(TPP)and 4T1 cell membrane,m@MoS_(2)-Ti_(3)C_(2)/TPP(m@MTT)could effectively target to the tumor cell and further locate to the mitochondria to amplify tumor-specific oxidative stress,which not merely effectively inhibits the local tumor growth but also induces tumor immunogenic cell death(ICD)for activating antitumor immune ***,cytosine guanine dinucleotide(CPG),as a Toll-like receptor 9(TLR9)agonist,was further introduced to the system to boost adaptive immune responses,resulting in improved level of cytotoxic T cells as well as a decrease in the number of regulatory T *** vivo antitumor mechanism studies demonstrated that not only the primary and distant tumors in 4T1 bearing-tumor mice model were significantly inhibited,but also the lung metastasis of tumor was effectively ***,this work revealed the ROS generation mechanism of MT nanoheterojunction and provided a novel strategy to fabricate a biomedically applicable MT nanoheterojunction for tumor treatment.

关键词： two-dimensional nanoheterojunction mitochondrial targeting photothermal therapy photodynamic therapy immunotherapy

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Research on damage evolution of metal plate based on improved micropolar peridynamic model

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Journal of Southeast University(English Edition) 2019年第3期35卷 292-301页

作者： Yang Huichao Xu Feiyun Zhu Dasheng liu yadong School of Mechanical Engineering Southeast UniversityNanjing 211189China School of Mechanical Engineering Nanjing Institute of TechnologyNanjing 211167China

To study the damage evolution of the metal plate in elastic and plastic deformation stages, an improved micropolar peridynamic model is proposed to simulate the deformation process and damage evolution of metal materials with variable Poisson’s ratios in the elastic-plastic stages. Firstly, both the stretching and bending moments of the bonds between the material points are added to peridynamic pairwise force functions, and the coordinate transformation of the micro-beam made up of bonds is deduced. Therefore, the numerical calculation implementation of the improved micropolar peridynamic model is obtained. Then, the strain values are obtained by solving the difference equation based on the displacement values of material points, and the stress values can be calculated according to generalized Hook’s law. The elastic and plastic deformation stages can be estimated based on the von Mises yield criterion, and different constitutive equations are adopted to simulate the damage evolution. Finally, the proposed micropolar peridynamic model is applied to simulate the damage evolution of a metal plate with a hole under velocity boundary conditions, and the effectiveness of the model is verified through experiments. In the experiments, the displacement and strain distributions in the stretching process are analyzed by the digital image correlation(DIC) method. By comparing the results, the proposed model is more accurate than the bond-based peridynamic model and the error of the proposed model is 7.2% lower than that of the bond-based peridynamic model. By loading different velocity boundary conditions, the relationship between the loads and damage evolution is studied.

关键词： micropolar peridynamic model elastic-plastic constitutive equation damage evolution plastic deformation digital image correlation tensile test

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内蒙古马铃薯抗旱节水产量提升关键技术试验

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南方农业 2024年第15期18卷 44-47页

作者：刘羽昊翔刘亚东冈根白雪段慧孙宇燕内蒙古自治区农牧业技术推广中心内蒙古呼和浩特010000

针对内蒙古地区马铃薯灌溉用水受限,为提高马铃薯水分和养分利用率,在马铃薯苗期和块茎膨大期,通过滴灌方式分别补灌0、30、45、60 mm,结果表明:在限量补灌60 mm(苗期15 mm,块茎膨大期分3次,共45 mm)条件下,马铃薯产量为2619.2 kg/667 m... 详细信息

针对内蒙古地区马铃薯灌溉用水受限,为提高马铃薯水分和养分利用率,在马铃薯苗期和块茎膨大期,通过滴灌方式分别补灌0、30、45、60 mm,结果表明:在限量补灌60 mm(苗期15 mm,块茎膨大期分3次,共45 mm)条件下,马铃薯产量为2619.2 kg/667 m^(2),比干旱条件下增产68.9%;同时在该条件下分别施用保水剂、纳微氢络增效剂、大西北微肥、氨基酸水溶肥和生物有机肥,可以显著提高马铃薯品质和产量,增加经济效益,其中施用氨基酸水溶肥和生物有机肥在提升马铃薯经济性状和产量方面表现更为突出,产量分别为2972.8 kg/667 m^(2)和2934.3 kg/667 m^(2),比对照增产13.5%和12.0%。

关键词：马铃薯抗旱节水限量补灌抗逆调节

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改性西瓜皮基碳气凝胶吸附亚甲基蓝性能研究

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天津农学院学报 2024年第1期31卷 12-17页

作者：黄洁萍池明刘亚东张卫华薛聪天津农学院园艺园林学院天津300392

为探究NaOH/H3PO4改性碳气凝胶对亚甲基蓝的吸附性能,本试验采用化学活化法对西瓜皮基碳气凝胶进行改性处理,通过批量试验研究亚甲基蓝的溶液pH值、溶液初始质量浓度、凝胶吸附时间和凝胶投入量对NaOH/H3PO4改性西瓜皮基碳气凝胶吸附效... 详细信息

为探究NaOH/H3PO4改性碳气凝胶对亚甲基蓝的吸附性能,本试验采用化学活化法对西瓜皮基碳气凝胶进行改性处理,通过批量试验研究亚甲基蓝的溶液pH值、溶液初始质量浓度、凝胶吸附时间和凝胶投入量对NaOH/H3PO4改性西瓜皮基碳气凝胶吸附效果的影响。试验结果表明:改性碳气凝胶对亚甲基蓝的吸附量随pH的升高而降低,当pH=8时,改性碳气凝胶对亚甲基蓝的吸附效果最好。适量延长凝胶吸附时间、提高溶液初始质量浓度、增加凝胶投入量可以改善改性碳气凝胶的吸附量。在染料溶液pH=8,初始质量浓度为50 mg/L,吸附时间12 h,凝胶投入量5 mg/mL的条件下,NaOH改性凝胶的吸附量达7.51 mg/g,H3PO4改性凝胶的吸附量达4.29 mg/g,其吸附量均高于未改性碳气凝胶吸附量,说明酸碱改性均能提高西瓜皮基碳气凝胶的吸附性能。

关键词：西瓜皮碳气凝胶亚甲基蓝吸附

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轻量化装配式大型多通电缆工作井研究

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特种结构 2024年第4期41卷 21-26页

作者：刘亚东于文洪王传宇赵丛温晓宝黑龙江华装清配建筑科技有限公司黑龙江省建设科创投资有限公司上海中森建筑与工程设计顾问有限公司中国能源建设集团辽宁电力勘测设计院有限公司

本文介绍了一种新型轻量化装配式多通电缆工作井,具有可工厂化生产、质量好、重量轻、环保优、低成本等优点,解决了现有装配式技术支模复杂、混凝土浇筑困难、不便生产、运输、安装的问题,实现了标准化、小型化预制多通井构件的全干法... 详细信息

本文介绍了一种新型轻量化装配式多通电缆工作井,具有可工厂化生产、质量好、重量轻、环保优、低成本等优点,解决了现有装配式技术支模复杂、混凝土浇筑困难、不便生产、运输、安装的问题,实现了标准化、小型化预制多通井构件的全干法快速拼装。通过有限元分析,轻量化多通电缆工作井可满足工程使用要求,在江阴市10kV澄华线和黄观线路迁改等多个项目实践中取得了良好的应用效果,该技术可供其他同类工程参考。

关键词：电缆工作井装配式轻量化有限元分析反应位移法

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构建适用于我国老年住院病人的新型谵妄筛查量表

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实用老年医学 2024年第1期38卷 28-33页

作者：刘亚东高浪丽吕娟葛宁岳冀蓉四川大学华西医院国家老年疾病临床医学研究中心四川省成都市610041 四川大学华西医院老年医学中心四川省成都市610041

目的构建适用于我国老年住院病人的谵妄筛查量表。方法通过查阅文献和专家小组讨论,制定诊断域和备选条目池。经过人群预实验,依照经典测量理论(CTT)方法进行条目删减。结合专家意见,修改量表结构,形成正式谵妄筛查量表中文版(DSI-CV... 详细信息

目的构建适用于我国老年住院病人的谵妄筛查量表。方法通过查阅文献和专家小组讨论,制定诊断域和备选条目池。经过人群预实验,依照经典测量理论(CTT)方法进行条目删减。结合专家意见,修改量表结构,形成正式谵妄筛查量表中文版(DSI-CV)。结果预实验共纳入730例病人,量表回收率为100%,条目空缺率为0。量表5个维度中,急性波动性、意识水平、注意力和认知水平的内部一致性系数分别为0.748、1.000、0.666和0.853,精神运动改变由于两个条目互斥的特殊性,不参与内部一致性讨论。经过CTT理论和专家小组讨论删减条目后,最终成型的DSI-CV包含5个维度共14个条目。结论基于CTT理论构建的DSI-CV在条目设置方面更符合我国文化特点,在使用情景方面充分考虑了老年住院病人的日常活动和与医护人员交互的情况。

关键词：谵妄老年医学筛查量表住院病人

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Computation on pipe dynamic response induced by deflagration of H_2 and air mixture

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Science China(Physics,Mechanics & Astronomy) 2010年第2期53卷 199-208页

作者： ZHANG YaJun,liu yadong,ZHANG ZhuHe & XU ShengLi Department of Modern Mechanics,University of Science and Technology of China,Hefei 230026,China University of Science and Technology of China Department of Modern Mechanics Hefei China (GRID:grid.59053.3a) (ISNI:***)

Computation is devoted to evaluating structural safety of a heat exchanger inside a reactor whose geometry can be simplified as outer and inner pipes as well as a chamber. This paper has numerically studied deflagration of hydrogen air mixture and pipe dynamic responses. The Navier-Stokes equations coupled with multi-species mass equation are solved by TVD scheme to get flow-field solution based on MPI and multi-block methods. Combustion is described by a 11-species and 23-step reaction model. The source term is treated implicitly to involve species production and depletion. Ignition is approximated by input energy CpT per unit mass in a specified period and zone. Finally,contours of pressure and OH mass fraction at different time pe-riods and pressure histories at fixed points are obtained. When loading is specified as wall pressure,virtual work theorem in Lagrangian frame which describes pipe response is solved by FEM to obtain stress and strain distributions. Results show that shock waves can be generated and reflected on the walls of the chamber and pipes. The shock waves and flame can not be dis-sipated in a narrow gap spanning 2 mm. Meanwhile,stress waves are generated. They propagate outwards on the inner and outer pipe walls. At the gap exit,shock wave diffracts and impacts on the inner pipe walls. Coupled with hot jet from the gap,reignition occurs on the inner pipe wall surfaces. Then,flame catches up the leading shock and shock front deforms into a planar one although the shock front passes through a short divergent section downstream. Also,stress concentrates along the intersected lines among the top,bottom and side walls. This means that the chamber is an easily damaged component. The methods provided in this paper can be used to evaluate structural safety.

关键词： shock wave chemical reaction finite difference method finite element method (FEM)) dynamic response

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Green-synthesized, biochar-supported nZVI from mango kernel residue for aqueous hexavalent chromium removal: Performance, mechanism and regeneration

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Chinese Journal of Chemical Engineering 2024年第7期71卷 91-101页

作者： Yuting Zhang Yuwei Tang Ruiping Yan Shuang Liang Zhongmou liu yadong Yang Key Laboratory of Songliao Aquatic Environment Ministry of EducationJilin Jianzhu UniversityChangchun 130118China School of Environmental Science and Engineering Yancheng Institute of TechnologyYancheng 224051China

A biochar-supported green nZVI(G-nZVI@MKB)composite was synthesized using mango kernel waste with“dual identity”as reductant and biomass of *** G-nZVI@MKB with a Fe/C mass ratio of 2.0(G-nZVI@MKB2)was determined as the most favorable composite for hexavalent chromium(Cr(VI))*** influencing parameters were discussed,and 99.0%of Cr(VI)removal occurred within 360 min under these optimized ***-second order kinetic model and intra-particle diffusion model well depicted Cr(VI)removal *** XRD,FTIR,SEM,and XPS analyses verified the key roles of G-nZVI and functional groups,as well as the primary removal mechanisms involving electrostatic attraction,reduction,and complexation.G-nZVI@MKB2 exhibited good stability and reusability with only a 16.4%decline in Cr(VI)removal after five *** study offered evidence that mango kernel could be recycled as a beneficial resource to synthesize green nZVI-loaded biochar composite for efficient Cr(VI)elimination from water.

关键词： Synthesis Biochar-supported nZVI Hexavalent chromium Reduction Regeneration

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Plasma-etching on monolithic MOFs-based MIM filter boosted chemical sensing

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Nano Research 2024年第4期17卷 2800-2807页

作者： Jianxi liu Li Feng Zhihuan Li Yang Wu Feng Zhou yadong Xu Research&Development Institute Northwestern Polytechnical University in ShenzhenShenzhen 518057China State Key Laboratory of Solidification Processing Center of Advanced Lubrication and Seal MaterialsSchool of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi’an 710072China Yantai Zhongke Research Institute of Advanced Materials and Green Chemical Engineering Shandong Laboratory of Advanced Materials and Green Manufacturing at YantaiYantai 264006China State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical PhysicsChinese Academy of SciencesLanzhou 730000China

Metal-insulator-metal(MIM)cavity as a lithography-free structure to control light transmission and reflection has great potential in the field of optical ***,the dense top metal layer of the MIM prohibits any external medium from entering the dielectric insulation layer,which limits the application of the cavity in the sensing ***,we demonstrate a series of monolithic metal-organic frameworks(MOFs)based MIM cavities,which are treated by plasma etching to provide channels for chemical diffusion and to advance *** modulate the bandwidth of the MIM filters by controlling the MOF thickness as insulator *** plasma-etching is applied to build channels on the top metal layer without altering their saturation and brightness for chemical sensing *** etching time regulates the number and size of channels on the top metal *** behavior is demonstrated on the plasma-etched MOFs-based MIM cavity when external chemicals diffuse in the *** addition,we generate patterned structure of the MOFs-based MIM cavity via plasma-mask method,which can transfer to different substrates and produce a controllable structure color change for chemical *** MIM cavity may promote the advancement and applications of structural color in security imaging,color display,information anticounterfeiting,and color printing.

关键词： metal-organic frameworks(MOFs) spin-coating metal-insulator-metal filter patterns sensing

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