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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： jie Huang lingjie gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

Numerical study on the effective thermal conductivity and thermal tortuosity of porous media with different morphologies

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Science China(Technological Sciences) 2024年第6期67卷 1685-1694页

作者： DU Shen LI Dong LI Meng-jie HE Ya-ling Key Laboratory of Thermo-Fluid Science and Engineering of Ministry of Education School of Energy and Power EngineeringXi’an Jiaotong UniversityXi’an710049China

Effective thermal conductivity and thermal tortuosity are crucial parameters for evaluating the effectiveness of heat conduction within porous *** direct pore-scale numerical simulation method is applied to investigate the heat conduction processes inside porous structures with different *** thermal conduction performances of idealized porous structures are directly compared with real foams across a wide range of *** foam structures are reconstructed using X-ray computed tomography and image processing techniques,while Kelvin and Weaire-Phelan structures are generated through periodic unit cell *** detailed temperature fields inside the porous structures are determined by solving the heat conduction equation at the pore *** results present that the equivalent thermal conductivity of Kelvin and Weaire-Phelan structures is similar to and greater than that of the real foam structure with the same strut *** thermal tortuosity of real foam structure is relatively larger and the heat conduction path becomes straighter by adopting the anisotropic *** thermal tortuosity of the fluid channels for Kelvin,Weaire-Phelan,and real foam structures is close to *** thermal conductivity of porous structures with heat transfer fluid increases as the thermal conductivity ratio of fluid to solid becomes larger.A small porosity of porous media leads to a larger equivalent thermal conductivity due to the dominant contribution of porous skeleton in the heat conduction *** derived from parallel and series models,as well as the Maxwell-Eucken models,provide decent predictions of effective thermal conductivity,with an average error of less than 8%in the entire range of thermal conductivity ratio.

关键词： volumetric solar receiver porous morphology direct pore-scale simulation equivalent thermal conductivity thermal tortuosity empirical correlation

Multiwavelength Observations of the Infrared Dust Bubble N75 and its Surroundings

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Research in Astronomy and Astrophysics 2024年第4期24卷 262-270页

作者： Quan-ling Cui Chuan-Peng Zhang Jun-jie Wang National Astronomical Observatories Chinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China College of Science Qiqihar UniversityQiqihar 161006China Guizhou Radio Astronomical Observatory Guizhou UniversityGuiyang 550000China

Infrared dust bubbles play an important role in the study of star formation and the evolution of the interstellar *** this work,we study the infrared dust bubble N75 and the infrared dark cloud G38.93 mainly using the tracers C^(18)O,HCO^(+),HNC and N_(2)H^(+)observed by the 30 m IRAM *** also study the targets using data from large-scale surveys:GLIMPSE,MIPSGAL,GRS,NRAO VLA Sky Survey and Bolocam Galactic Plane *** found that the C^(18)O emission is morphologically similar to the Spitzer IRAC 8.0μm ***1.1 mm cold dust emission of G38.93 shows an elongated structure from southwest to *** ionized gas from G38.93 is surrounded by polycyclic aromatic hydrocarbon emission,which may be excited by radiation from *** found that the identified young stellar objects tend to cluster around G38.93 and are mostly in class II with several class I cases distributed around N75,but no class II *** also found evidence of expanding feedback,which could have triggered star formation.

关键词： ISM:bubbles infrared:ISM galaxies:star formation

Possible Habitats for NH_(3),NH_(2)D,H^(13)CN,HC^(15)N,SO,and C^(18)O in the Initial Conditions of High-mass Star Formation

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Research in Astronomy and Astrophysics 2024年第4期24卷 237-252页

The initial condition of high-mass star formation is a complex area of study because of the high densities(n_(H_(2))>106cm^(-3))and low temperatures(T_(dust)<18 K)*** such conditions,many molecules become depleted from the gas phase by freezing out onto dust ***,the N-bearing and deuterated species could remain gaseous under these extreme conditions,suggesting that they may serve as ideal *** this paper,using the Plateau de Bure Interferometer and Very Large Array observations at 1.3 mm,3.5 mm,and 1.3 cm,we investigate the possible habitats for NH_(3),NH_(2)D,H^(13)CN,HC^(15)N,SO,and C^(18)O in eight massive precluster and protocluster clumps G18.17,G18.21,G23.97N,G23.98,G23.44,G23.97S,G25.38,and *** found that the NH3cores are in good agreement with the 3.5 mm peak emission,but the NH_(3)is much more extended than the 3.5 mm emission *** SO distributions agree well with the 3.5 mm peaks for the evolved star formation stage,but we did not detect any SO emission in the four earliest star formation sources.C^(18)O is a poor tracer in conditions of the cold(■18 K)and dense(■10^(4)cm^(-3))cores,e.g.,the prestellar *** also found that the NH_(2)D cores are mainly located in the temperature range of 13.0-20.0 K,and the NH_(2)D lines may be strongly depleted above 20 K.

关键词： galaxies:star formation techniques:interferometric methods:observational

Revealing effect of Al content on oxidation of novel Co-Cr-Nb-W carbide-strengthened superalloy

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Rare Metals 2024年第9期43卷 4521-4534页

作者： Chen ling Shang-Ping Li jie Hou He-Li Luo Central Iron & Steel Research Institute Beijing GAONA Materials&Technology Co. Ltd.

The high-temperature oxidation behavior of novel Co-Cr-Nb-W carbide-strengthened wear-resistance alloys with different Al contents（1wt%, 2wt% and 3wt%）at 950, 1000 and 1050 °C was thoroughly investigated by scanning electron microscopy, X-ray diffraction, X-ray photoelectron spectroscopy and field emission electron probe analyzer. The porous property of Nb C in-situ oxidation products（Nb2O5, Co Nb2O6and Co4Nb2O9） induces a multi-layered oxide scale with micropores and ***-Cr-Nb-W alloy with 1 wt% Al undergoes catastrophic oxidation and spalling above 1000 °C. The outward transportation of Cr and Co is effectively restrained by a continuous Al2O3scale formed around Nb C in-situ oxidation region when Al content reaches 3 wt%. The β-Co Al in Co-Cr-Nb-W alloy with 3 wt% Al has an oxidation priority over eutectic carbides and the alloy matrix which are both enriched with Cr, thereby preventing the formation of Cr-depletion area and improving the self-healing ability of the oxide film. A slight change in Al content has a remarkable influence on the cooperative effect of Al and Cr and multiplies the antioxidant capacity of Co-Cr-Nb-W alloy above 1000 °C.

关键词： High-temperature oxidation behavior Microstructure Oxidation kinetics Superalloy Wear-resistant alloy

A Matching Algorithm with Reinforcement Learning and Decoupling Strategy for Order Dispatching in On-Demand Food Delivery

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Tsinghua Science and Technology 2024年第2期29卷 386-399页

作者： Jingfang Chen ling Wang Zixiao Pan Yuting Wu jie Zheng Xuetao Ding Department of Automation Tsinghua UniversityBeijing 100084China Department of Delivery Technology MeituanBeijing 100102China

The on-demand food delivery(OFD)service has gained rapid development in the past decades but meanwhile encounters challenges for further improving operation *** order dispatching problem is one of the most concerning issues for the OFD platforms,which refer to dynamically dispatching a large number of orders to riders reasonably in very limited decision *** solve such a challenging combinatorial optimization problem,an effective matching algorithm is proposed by fusing the reinforcement learning technique and the optimization ***,to deal with the large-scale complexity,a decoupling method is designed by reducing the matching space between new orders and ***,to overcome the high dynamism and satisfy the stringent requirements on decision time,a reinforcement learning based dispatching heuristic is *** be specific,a sequence-to-sequence neural network is constructed based on the problem characteristic to generate an order priority ***,a training approach is specially designed to improve learning ***,a greedy heuristic is employed to effectively dispatch new orders according to the order priority *** real-world datasets,numerical experiments are conducted to validate the effectiveness of the proposed *** results show that the proposed algorithm can effectively solve the problem by improving delivery efficiency and maintaining customer satisfaction.

关键词： order dispatching on-demand delivery reinforcement learning decoupling strategy sequence-to-sequence neural network

Impurity formation mechanism of silicon carbide crystals smelted by Acheson process

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Journal of Iron and Steel Research International 2024年第6期31卷 1367-1375页

作者： Dong Feng Hong-qiang Ru Xu-dong Luo jie-gang You ling Zhang School of Materials and Metallurgy University of Science and Technology LiaoningAnshan 114051LiaoningChina Key Laboratory for Anisotropy and Texture of Materials(Ministry of Education) Institute of Advanced CeramicsSchool of Materials Science and EngineeringNortheastern UniversityShenyang 110819LiaoningChina Liaoning Institute of Science and Technology Benxi 117004LiaoningChina

In order to further promote the application of SiC refractories in modern steel metallurgy,the occurrence forms and formation mechanism of impurities in SiC crystals smelted by Acheson process were *** techniques of inductively coupled plasma-atomic emission spectrometry,X-ray diffraction,and scanning electron microscopy were combined to examine the types and occurrence forms of impurities in smelted SiC *** results showed that the main impurities in the SiC are free Si,free C,oxides(CaO·Al_(2)O_(3)·2SiO_(2),3Al_(2)O_(3)·2SiO_(2),CaO·SiO_(2) and SiO_(2))and alloy phases(Fe_(x)Si_(y),Fe_(x)Si_(y)Ti_(z) and Fe_(x)Al_(y)Si_(z)).The formation process of impurities during the smelting of SiC can be described as follows:At high temperature,the SiO_(2) and Fe,Ti related oxide impurities present in the raw materials are reduced to Si,Fe,and Ti metal *** the reduction process,the free Si,Fe_(x)Si_(y) and Fe_(x)Si_(y)Ti_(z) are precipitated from the melt during *** Si primarily exists in aggregated form within the SiC crystal,while the alloy phase is predominantly found at the interface between SiC and free Si,with Fe_(x)Si_(y)Ti_(z) embedded within *** the end of the cooling process,other impurity oxides such as Al_(2)O_(3),CaO,and some unreduced SiO_(2) solidify to form calcium-aluminum-silicate glass phases,predominantly located between SiC *** remaining C from the reaction is mainly dispersed as free C within the SiC crystal and at the interface between SiC and free Si.

关键词： Impurity element Formation mechanism Smelted SiC crystal SiC refractory Occurrence form

A possible probe to neutron-skin thickness by fragment parallel momentum distribution in projectile fragmentation reactions

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Nuclear Science and Techniques 2024年第6期35卷 114-119页

作者： Chun-Wang Ma Yi-jie Duan Ya-Fei Guo Chun-Yuan Qiao Yu-Ting Wang jie Pu Kai-Xuan Cheng Hui-ling Wei College of Physics Henan Normal UniversityXinxiang 453007China Institute of Nuclear Science and Technology Henan Academy of SciencesZhengzhou 450015China

Neutron-skin thickness is a key parameter for a neutron-rich nucleus;however,it is difficult to *** the framework of the Lanzhou Quantum Molecular Dynamics(LQMD)model,a possible probe for the neutron-skin thickness(δ_(np))of neutron-rich ^(48)Ca was studied in the 140A MeV ^(48)Ca+^(9)Be projectile fragmentation reaction based on the parallel momentum distribution(p∥)of the residual fragments.A Fermi-type density distribution was employed to initiate the neutron density distributions in the LQMD simulations.A combined Gaussian function with different width parameters for the left side(Γ_(L))and the right side(Γ_(R))in the distribution was used to describe the p∥of the residual *** neutron-rich sulfur isotopes as examples,Γ_(L) shows a sensitive correlation withδ_(np) of ^(48)Ca,and is proposed as a probe for determining the neutron skin thickness of the projectile nucleus.

关键词： Neutron-skin thickness Projectile fragmentation Parallel momentum distribution Neutron-rich nucleus Quantum molecular dynamics model

A whole process damage constitutive model for layered sandstone under uniaxial compression based on Logistic function

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Journal of Central South University 2024年第7期31卷 2411-2430页

作者： LIU Dong-qiao GUO Yun-peng ling Kai LI jie-yu State Key Laboratory for Geomechanics and Deep Underground Engineering China University of Mining and Technology-BeijingBeijing 100083China School of Mechanics and Civil Engineering China University of Mining and Technology-BeijingBeijing 100083China

Bedding structural planes significantly influence the mechanical properties and stability of engineering rock *** study conducts uniaxial compression tests on layered sandstone with various bedding angles(0°,15°,30°,45°,60°,75°and 90°)to explore the impact of bedding angle on the deformational mechanical response,failure mode,and damage evolution processes of *** develops a damage model based on the Logistic equation derived from the modulus’s degradation considering the combined effect of the sandstone bedding dip angle and *** model is employed to study the damage accumulation state and its evolution within the layered rock *** research also introduces a piecewise constitutive model that considers the initial compaction characteristics to simulate the whole deformation process of layered sandstone under uniaxial *** results revealed that as the bedding angle increases from 0°to 90°,the uniaxial compressive strength and elastic modulus of layered sandstone significantly decrease,slightly increase,and then decline *** corresponding failure modes transition from splitting tensile failure to slipping shear failure and back to splitting tensile *** indicated by the modulus’s degradation,the damage characteristics can be categorized into four stages:initial no damage,damage initiation,damage acceleration,and damage deceleration *** theoretical damage model based on the Logistic equation effectively simulates and predicts the entire damage evolution ***,the theoretical constitutive model curves closely align with the actual stress−strain curves of layered sandstone under uniaxial *** introduced constitutive model is concise,with fewer parameters,a straightforward parameter determination process,and a clear physical *** study offers valuable insights into the theory of layered rock mechanics and holds implications for ensuring the safety of rock engineering.

关键词： layered sandstone uniaxial compression damage evolution Logistic function constitutive model