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基于LZG-Net的机械手触觉识别和分类

贵州大学学报（自然科学版） 2024年第4期41卷 70-76页

作者：杨兰刘聂天和王民慧贵州大学电气工程学院贵州贵阳550025 贵州电网有限公司贵阳市供电局贵州贵阳550025

准确识别物体类别和触觉信号对于机械手实现软抓取控制至关重要。为此,提出了一种用于嵌入式设备的轻量级金字塔神经网络(LZG-Net)模型,用于处理机械手抓取物体时的振动信号。LZG-Net模型以Ghost模块为基础,采取卷积核逐层递减的卷积策... 详细信息

准确识别物体类别和触觉信号对于机械手实现软抓取控制至关重要。为此,提出了一种用于嵌入式设备的轻量级金字塔神经网络(LZG-Net)模型,用于处理机械手抓取物体时的振动信号。LZG-Net模型以Ghost模块为基础,采取卷积核逐层递减的卷积策略。针对注意力机制SE模块在一些嵌入式设备上无法部署的问题进行改进,并通过知识蒸馏、算子优化和量化操作提高模型在嵌入式系统上的准确率。最后,搭建了嵌入式触觉识别系统,将LZG-Net模型部署至其中,对4种不同特征的物体进行触觉识别。实验结果表明:该模型能够对物体类别及抓取状态进行准确分类,分类正确率达90.94%,其分类性能优于现有的经典轻量级神经网络。

关键词：嵌入式系统轻量级模型机器人抓取金字塔架构

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Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 26-40页

作者： Peng Li Zhenguo nie Zihao Li Xinjun liu Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua UniversityBeijing 100084China

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of *** to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more *** this paper,a new method for designing the drive train parameters of cobot is ***,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design ***,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design ***,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective *** on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial *** result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a *** minimum resonance frequency of the joints is 42.70 Hz.

关键词： Multi-objective optimization Modular joint drive train design Load capacity Dynamic response performance

Bulging Distortion of Austenitic Stainless Steel Sheet on the Partially Penetrated Side of Non-Penetration Lap Laser Welding Joint

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 286-295页

作者： Chengwu Yao Enze liu Jiaming Ni Binying nie Shanghai Key Laboratory of Materials Laser Processing and Modification School of Material Science and EngineeringShanghai Jiao Tong UniversityShanghai 200240China Shanghai Aerospace Precision Machinery Institute Shanghai 201600China Chemical and Biological Engineering College Yichun UniversityYichun 336000China

Non-penetration laser welding of lap joints in austenitic stainless steel sheets is commonly preferred in fields where the surface quality is of utmost ***,the application of non-penetration welded austenitic stainless steel parts is limited owing to the micro bulging distortion that occurs on the back surface of the partial penetration *** this paper,non-penetration lap laser welding experiments,were conducted on galvanized and SUS304 austenitic stainless steel plates using a fiber laser,to investigate the mechanism of bulging distortion.A comparative experiment of DC01 galvanized steel-Q235 carbon steel lap laser welding was carried out,and the deflection and distortion profile of partially penetrated side of the sheets were measured using a noncontact laser *** addition,the cold-rolled SUS304 was subjected to heat holding at different temperatures and water quenching after bending to characterize its microstructure under tensile and compressive *** results show that,during the heating stage of the thermal cycle of laser lap welding,the partial penetration side of the SUS304 steel sheet generates compressive stress,which extrudes the material in the heat-affected zone to the outside of the back of the SUS304 steel sheet,thereby forming a *** findings of these experiments can be of great value for controlling the distortion of the partial penetrated side of austenitic stainless steel sheet during laser non-penetration lap welding.

关键词： Non-penetration lap laser welding Bulging distortion Austenitic stainless steel Compressive stress Tension stress

Improving the underwater navigation performance of an IMU with acoustic long baseline calibration

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Satellite Navigation 2024年第1期5卷 224-239页

作者： Paipai Wu Wenfeng nie Yangfan liu Tianhe Xu Shandong Key Laboratory of Optical Astronomy and Solar-Terrestrial Environment Institute of Space SciencesShandong UniversityWeihai264209ShandongChina Research Group of Astronomy and Geomatics(gAGE) Universitat Politecnica de Catalunya(UPC)BarcelonaSpain

Underwater acoustic Long-Baseline System(LBL)is an important technique for submarine positioning and ***,the high cost of the seafloor equipment and complex construction of a seafloor network restrict the distribution of the LBL within a small area,making an underwater vehicle difficult for long-distance and high-precision acoustic-based or inertial-based *** therefore propose an acoustic LBL-based Inertial Measurement Unit(IMU)calibration *** the underwater vehicle can receive the acoustic signal from a seafloor beacon,the IMU is precisely calibrated to reduce the cumulative error of Strapdown Inertial Navigation System(SINS).In this way,the IMU is expected to maintain a certain degree of accuracy by relying solely on SINS when the vehicle reaches out the range of the LBL network and cannot receive the acoustic *** present the acoustic LBL-based IMU online calibration model and analyze the factors that affect the accuracy of IMU *** results fulfill the expectation that the gyroscope bias and accelerometer bias are the main error sources that affect the divergence of SINS position errors,and the track line of the underwater vehicle directly affects the accuracy of the calibration *** addition,we deduce that an optimal calibration trajectory needs to consider the effects of the three-dimensional observability and position dilution of *** the experiment,we compare the effects of seven calibration trajectories:straight and diamond-shaped with and without the change of depth,and three sets of curves with the change of depth:circular,S-shaped,and *** them,we find that the figure-eight is the optimal trajectory for acoustic LBL-based IMU online *** take the maintenance period during which the accumulated SINS Three Dimensional(3D)position errors are below 1 km to evaluate the calibration *** filed experimental results show that for the Micro-electromechanical System

关键词： Acoustic LBL Online IMU calibration SINS Relay reference network

Seed-assisted growth for high-performance perovskite solar cells:A review

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Journal of Energy Chemistry 2024年第9期96卷 588-610页

作者： Zhimin Fang Ting nie Jianning Ding Shengzhong(Frank)liu Institute of Technology for Carbon Neutralization Yangzhou UniversityYangzhou 225127JiangsuChina Dalian National Laboratory for Clean Energy iChEMDalian Institute of Chemical PhysicsChinese Academy of SciencesDalian 116023LiaoningChina Key Laboratory of Applied Surface and Colloid Chemistry Ministry of EducationShaanxi Key Laboratory for Advanced Energy DevicesShaanxi Engineering Lab for Advanced Energy TechnologySchool of Materials Science and EngineeringShaanxi Normal UniversityXi’an 710119ShaanxiChina

The rapid increase in the power conversion efficiency(PCE)of perovskite solar cells(PSCs)is closely related to the development of deposition techinique for perovskite *** high-quality perovskite film enables efficient charge transportation and less trap states,which are eventually translated into enhanced device ***-assisted growth(SAG)is a potential technique for depositing highly-crystallized perovskite films with preferential crystal orientation among the numerous approaches related to crystallization *** this review,we summarize the recent advances in the SAG technique for both one-step and two-step processed perovskite ***,seeding at the buried interface and on the top surface are also *** present different seeds and their corresponding seeding mechanism in detail,such as inorganic nanomaterials,organic ammoniums,alkali metal halides,and perovskite ***,challenges and perspectives are proposed to investigate the potential expansion of seeding engineering in high-performance PSCs,particularly large-area devices.

关键词： Perovskite solar cell Seed Crystallization Efficiency

Polymer-encapsulated metal complex catalysts:An emerging and efficient platform for electrochemical CO_(2) reduction

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Journal of Materials Science & Technology 2024年第5期172卷 33-50页

作者： Yingshuo liu Shuaishuai Lyu Fuli Wen Weixuan nie Shuqing Wang Sinopec Research Institute of Petroleum Processing Co. Ltd.Beijing 100083China School of Engineering Westlake UniversityHangzhou 310024China

Over the past decade,electrocatalytic reduction of CO_(2)has gained substantial ***,hardly any of the previous reviews have focused on the systematic discussion of polymer-molecular catalyst composites as an emerging system for the electrochemical transformation of CO_(2)to value-added *** this review,we first give a brief overview of the general features of solid-state and molecular catalysts,and then advance the discussion to polymer-catalyst composite systems,with particular emphasis on polymer-encapsulated molecular catalysts,where the coordination environment surrounding molecular catalysts can be modified via polymer encapsulation to promote the overall performance of CO_(2)*** elucidation of the possible reaction mechanisms of this emerging electrocat-alytic system along with proposed optimization strategies is also summarized and discussed based on recently published reports,followed by the challenges and prospects of their industrial applications at the end of this *** this review,we hope the audience can gain a comprehensive understanding of the electrocatalytic mechanism of the coordinating polymers and valuable insights into engineering the microenvironment surrounding the metal complexes for potential future research directions.

关键词： Polymer-molecular catalyst composite Polymer encapsulation Coordination environment CO_(2)electrocatalysis Electrocatalytic mechanism

Indentation behavior of a semi-infinite piezoelectric semiconductor under a rigid flat-ended cylindrical indenter

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Applied Mathematics and Mechanics(English Edition) 2024年第4期45卷 649-662页

作者： Shijing GAO Lele ZHANG Jinxi liu Guoquan nie Weiqiu CHEN State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China School of Mechanical Engineering Shijiazhuang Tiedao UniversityShijiazhuang 050043China Hebei Key Laboratory for Mechanics of Intelligent Materials and Structures Department of Engineering MechanicsShijiazhuang Tiedao UniversityShijiazhuang 050043China State Key Laboratory of Computer Aided Design and Computer Graphics Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou 310027China

This paper theoretically studies the axisymmetric frictionless indentation of a transversely isotropic piezoelectric semiconductor(PSC)half-space subject to a rigid flatended cylindrical *** contact area and other surface of the PSC half-space are assumed to be electrically *** the Hankel integral transformation,the problem is reduced to the Fredholm integral equation of the second *** equation is solved numerically to obtain the indentation behaviors of the PSC half-space,mainly including the indentation force-depth relation and the electric potential-depth *** results show that the effect of the semiconductor property on the indentation responses is limited within a certain range of variation of the steady carrier *** dependence of indentation behavior on material properties is also analyzed by two different kinds of *** element simulations are conducted to verify the results calculated by the integral equation technique,and good agreement is demonstrated.

关键词： piezoelectric semiconductor(PSC) insulating indenter electromechanical response singular integral equation finite element simulation

Ameliorating the Strength-Modulus Synergy in GNPs Reinforced Mg-Zn-Zr Composites via Multidirectional Forging and Hot Extrusion Deformation

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Acta Metallurgica Sinica(English Letters) 2024年第3期37卷 425-437页

作者： Yuhao Chen Kaibo nie Kunkun Deng Zhilong liu Quanxin Shi College of Materials Science and Engineering Taiyuan University of TechnologyTaiyuan 030024China State Key Laboratory of Compressor Technology(Compressor Technology Laboratory of Anhui Province) Hefei 230031China Instrumental Analysis Center Taiyuan University of TechnologyTaiyuan 030024China

The integration of lightweight and high-modulus magnesium-based materials is becoming increasingly valued as structural materials due to the complexity and intelligence of industrial products like automobiles and *** this study,the graphene nanoplatelets(GNPs)/Mg-Zn-Zr composites with 0.5 wt%GNPs were successfully prepared by the combination of multidirectional forging(MDF)and hot extrusion(Ex).The newly-developed composites after multi-step deformation possessed excellent strength and modulus,with a tensile strength exceeding 375 MPa and an elastic modulus reaching 54 *** results revealed that the stripping and thinning of GNPs bands parallel to the extrusion direction occurred after MDF+Ex,which promoted the dynamic recrystallization and the formation of numerous fine *** significant improvement in comprehensive mechanical performances of the composites could be primarily ascribed to the refinement of grain size caused by the optimized distribution of GNPs,and efficient load transfer facilitated by the tight interface.

关键词： Magnesium matrix composites Graphene nanoplatelets(GNPs) Multi-step deformation Microstructure Strength-modulus

Conductive edge-warping graphite mesas for robust structural superlubricity

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Science China(Technological Sciences) 2024年第7期67卷 2040-2049页

作者： FENG WeiJia liu Ying MA Ming PENG DeLi nie JinHui State Key Laboratory of Tribology in Advanced Equipment&Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China Center for Nano and Micro Mechanics Tsinghua UniversityBeijing 100084China Institute of Superlubricity Technology Research Institute of Tsinghua University in ShenzhenShenzhen 518057China

Structural superlubricity(SSL) refers to a state of ultralow friction and zero wear when two solid surfaces slide against each other. Recent investigations have identified amorphous carbon at the edge of the graphite mesa as the primary source of friction in such SSL systems. Here, the tensile stress of metal thin film is exploited to engineer vertically conductive edge-warping graphite mesas(EWGM). Through this approach, robust SSL performance is realized, demonstrated by sliding an 8 μm side length square EWGM on an atomically smooth Au substrate for 10000 cycles at a constant voltage of 1 m V. In this SSL system,differential friction coefficients lower than 1.5 × 10^(-4) are achieved, with static contact resistance between EWGM and Au substrate as low as 28Ω and sliding contact resistance as low as 32Ω. Moreover, the EWGM exhibits SSL behavior on polished Si wafer substrates. Furthermore, because of the no-edge contact with the substrate during sliding, friction is independent of the sliding speed of the EWGM. This study presents the first successful fabrication of conductive EWGM. Remarkably, in both EWGM-Au and EWGM-Si SSL systems, the measured frictions are more than one order of magnitude lower than those of ordinary self-retracting graphite mesas with no-edge warping, and no wear is observed during extended current-carrying ***, these findings establish a solid groundwork for the future realization of macroscale conductive SSL systems.

关键词： structural superlubricity graphite mesa contact resistance tensile stress edge warping

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