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

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

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Tuning Surface Molecular Design of Porous Carbon for Blue energy Harvesting

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Research 2024年第1期2023卷 651-662页

作者： Jian Yu Zhong-Lin Wang Tianwei ma Department of Civil and environmental engineering University of Hawaii at MānoaHonoluluHI 96822USA Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of SciencesBeijing 101400China College of engineering Texas A&M University-Corpus ChristiCorpus ChristiTX 78412USA

Capacitive mixing is a promising blue energy technology due to its membrane-free electricity generation and long electrode life ***,because of limited performance,existing systems do not lend themselves to practical *** it is a crucial factor directly influencing electrode behavior,surface chemistry has largely been overlooked in capacitive ***,we show that manipulating surface functionalization alone can tune the responses of electrodes to produce a high voltage rise without altering the pore structure of the *** findings reveal that the spontaneous electrode potential of a surface-modified carbon electrode shifts negatively proportional to the surface charge due to the surface groups,which explains why and how manipulating the surface chemistry can improve the power generation capacity.

关键词： electrode Porous mixing

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Deployment analysis of composite thin-walled lenticular tubes with effect of storage time and temperature

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Chinese Journal of Aeronautics 2024年第1期37卷 162-172页

作者： Jinfeng DeNG Ning AN Qilong JIA Xiaofei ma School of Aeronautics and Astronautics Sichuan UniversityChengdu 610065China State Key Laboratory for Strength and Vibration of Mechanical Structures School of AerospaceXi’an Jiaotong UniversityXi’an 710049China State Key Laboratory of Structural Analysis for Industrial equipment Dalian University of TechnologyDalian 116024China Xi’an Institute of Space Radio Technology Xi’an 710100China

Composite Thin-walled Lenticular Tube(CTLT)is increasingly utilized in small satellites missions as a lightweight,foldable,and rollable structural ma.erial that facilitates the construction of large deployable *** CTLT is initially flattened and coiled around a central hub for storage before launch,during which elastic energy is stored as deformation energy,allowing it to be self-deployed on demand for use in *** work presents a comprehensive investigation into the coiling,storage and deployment behaviors of CTLT that wraps around a central hub.A nonlinear explicit dynamic finite element model was developed with both deformable CTLT and rigidbodies mechanisms including the central hub and guide rollers,as well as the complex interactions among *** coiling mechanics characteristics such as stored strain energy and rotational moment were presented and validated against experimental data in the ***,the dynamic deployment behaviors were analyzed in terms of two different deployment methods,namely,controlled deployment and free *** effect of ma.erial property change during storage was also discussed through numerical experiments.

关键词： Composite deployable structures Deployment dynamics Finite element method Stress relaxation Thin-walled booms

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Capturing metal clusters at the strong-interaction region to reverse Ostwald ripening

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Science China ma.erials 2024年第4期67卷 1363-1364页

作者： Shuheng Tian Ding ma Beijing National Laboratory for Molecular Sciences New Cornerstone Science LaboratoryCollege of Chemistry and Molecular EngineeringPeking UniversityBeijing 100871China

High-temperature interactions induce sintering of metal nanoparticles(NPs) on heterogeneous catalyst surfaces, leading to reduced surface area and active site loss through Ostwald ripening [1]. This irreversible deactivation necessitates costly catalyst replacement, notably impacting metals like copper in hydrogenation and reforming reactions [2].

关键词： catalyst reforming irreversible

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Two-stage aging treatment to accelerate aging kinetics without impairing strength in B4C/7A04Al composite

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Science China Technological Sciences 2024年第8期67卷 2485-2492页

作者： CHeN YunTao ma GuoNan ZHU ShiZe WANG Dong XIAO BoLv ma ZongYi Shi-Changxu Innovation Center for Advanced ma.erials Institute of Metal Research Chinese Academy of Sciences School of ma.erials Science and engineering University of Science and Technology of China Centre of excellence for Advanced ma.erials

Aging treatments are the key process to obtain satisfactory strength for 7xxxAl alloys and their composites. However, traditional single-stage（SS） aging is time-consuming to reach a peak strength condition. In this study, an efficient 120℃ + 160℃ two-stage（TS） aging treatment was proposed on a B4C/7A04Al composite fabricated via powder metallurgy（PM） technology, which could acquire similar peak-aging strength but only took about 15% of the time compared to traditional 120℃ SS aging. The evolution of precipitation during the TS aging was investigated, as well as those of the 7A04Al alloys for comparison. In the second stage aging process, the higher aging temperature accelerated the nucleation of η′ phases inside the grains and thus increased the density of precipitates. Moreover, the short aging time limited the coarsening of precipitates and the broadening of precipitatefree zones. The above factors were beneficial for quickly obtaining satisfactory precipitation strengthening effects. The B4C/7A04Al composite exhibited slower aging kinetics than the 7A04Al alloy in the TS aging. Mg elements consumption by the chemical reaction between B impurities introduced by B4C particles and the Al matrix was considered to potentially retard the aging kinetics of the B4C/7A04Al composite. Nevertheless, the precipitation sequence was not affected.

关键词： aluminum matrix composites aging treatment powder metallurgy mechanical properties precipitation

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Non-Fully Conjugated Photovoltaic ma.erials with Y-Series Acceptor Backbone for High-Performance Organic Solar Cells

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Chinese Journal of Chemistry 2024年第11期42卷 1307-1318页

作者： Hairui Bai Qunping Fan Ruijie ma Xia Guo Wei ma maojie Zhang State Key Laboratory for Mechanical Behavior of ma.erials Xi’an Jiaotong UniversityXi’anShaanxi710049 China National engineering Research Center for Colloidal ma.erials School of Chemistry&Chemical EngineeringShandong UniversityJinanShandong250100 China Department of electronic and Information engineering Research Institute for Smart Energy(RISE)The Hong Kong Polytechnic UniversityKowloon999077 Hong KongChina

In the last few years,organic solar cells(OSCs)have ma.e significant progress in photovoltaic performance,mainly due to the innovative development of active layer ma.erials,especially Y-series and related derivatives as acceptors which have become the key factor that boosts the power conversion ***,to achieve high-performance OSCs,an emerging molecular design strategy of applying flexible alkyl units as linkers to construct non-fully conjugated acceptors has been developed and addressed great *** review highlights the non-fully conjugated photovoltaic ma.erials with Y-series backbone that enable high-performance *** OSCs have been achieved by some representative non-fully conjugated ma.erial *** related molecular design strategies are discussed in ***,a brief summary and future prospect are provided in advancing the non-fully conjugated photovoltaic ma.erials with Y-series backbone towards the brighter future.

关键词： Organic solar cells All-polymer solar cells Non-fully conjugated photovoltaic ma.erials Power conversion efficiency Polymer acceptors Organicel ectronics

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effects of gravel on the water absorption characteristics and hydraulic parameters of stony soil

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Journal of Arid Land 2024年第7期16卷 895-909页

作者： ma Yan WANG Youqi ma Chengfeng YUAN Cheng BAI Yiru Breeding Base for State Key Laboratory of Land Degradation and ecological Restoration in Northwest China Ningxia UniversityYinchuan 750021China School of Geography and Planning Ningxia UniversityYinchuan 750021China School of ecology and environment Ningxia UniversityYinchuan 750021China

The eastern foothills of the Helan Mountains in China are a typical mountainous region of soil and gravel,where gravel could affect the water movement process in the *** study focused on the effects of different gravel contents on the water absorption characteristics and hydraulic parameters of stony *** stony soil samples were collected from the eastern foothills of the Helan Mountains in April 2023 and used as the experimental ma.erials to conduct a one-dimensional horizontal soil column absorption *** experimental groups with gravel contents of 0%,10%,20%,30%,40%,and 50%were established to determine the saturated hydraulic conductivity(K_(s)),saturated water content(θ_(s)),initial water content(θ_(i)),and retention water content(θ_(r)),and explore the changes in the wetting front depth and cumulative absorption volume during the absorption *** Philip model was used to fit the soil absorption process and determine the soil water absorption *** the length of the characteristic wetting front depth,shape coefficient,empirical parameter,inverse intake suction and soil water suction were derived from the van Genuchten ***,the hydraulic parameters mentioned above were used to fit the soil water characteristic curves,unsaturated hydraulic conductivity(K_(θ))and specific water capacity(C(h)).The results showed that the wetting front depth and cumulative absorption volume of each treatment gradually decreased with increasing gravel *** with control check treatment with gravel content of 0%,soil water absorption rates in the treatments with gravel contents of 10%,20%,30%,40%,and 50%decreased by 11.47%,17.97%,25.24%,29.83%,and 42.45%,*** the gravel content increased,inverse intake suction gradually increased,and shape coefficient,K_(s),θ_(s),andθ_(r)gradually *** the same soil water content,soil water suction and K_(θ)gradually decreased with increasing gravel *** the same soil water s

关键词： stony soil gravel content water absorption characteristics hydraulic parameters one-dimensional horizontal soil column absorption experiment van Genuchten model eastern foothills of Helan Mountains

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Immune checkpoint inhibition mediated with liposomal nanomedicine for cancer therapy

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Military Medical Research 2024年第1期11卷 98-114页

作者： Guang-Long ma Wei-Feng Lin Faculty of Medicine Centre for Cancer ImmunologyUniversity of SouthamptonSouthampton SO166YDUK Department of Molecular Chemistry and ma.erials Science Weizmann Institute of Science76100 RehovotIsrael Key Laboratory of Bio-Inspired Smart Interfacial Science and Technology of Ministry of education School of ChemistryBeihang UniversityBeijing 100191China

Immune checkpoint blockade(ICB)therapy for cancer has achieved great success both in clinical results and on the *** the same time,success drives more attention from scientists to improve ***,only a small portion of patients are responsive to this therapy,and it comes with a unique spectrum of side effects termed immunerelated adverse events(irAes).The use of nanotechnology could improve ICBs’delivery to the tumor,assist them in penetrating deeper into tumor tissues and alleviate their *** nanomedicine has been investigated and used for decades,and is well-recognized as the most successful nano-drug delivery *** successful combination of ICB with liposomal nanomedicine could help improve the efficacy of ICB *** this review,we highlighted recent studies using liposomal nanomedicine(including new emerging exosomes and their inspired nanovesicles)in associating ICB therapy.

关键词： Liposome exosome Immune checkpoint blockade(ICB)

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An adaptive energy regulation in a memristive map linearized from a circuit with two memristive channels

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Communications in Theoretical Physics 2024年第3期76卷 42-50页

作者： Feifei Yang Ping Zhou Jun ma School of Science Chongqing University of Posts and TelecommunicationsChongqing 430065China College of electrical and Information engineering Lanzhou University of TechnologyLanzhou 730050China Department of Physics Lanzhou University of TechnologyLanzhou 730050China

Nonlinear circuits can show multistability when a magnetic flux-dependent memristor(MFDM) or a charge-sensitive memristor(CSM) is incorporated into a one branch circuit,which helps estima.e magnetic or electric field *** this paper,two different kinds of memristors are incorporated into two branch circuits composed of a capacitor and a nonlinear resistor,thus a memristive circuit with double memristive channels is *** circuit equations are presented,and the dynamics in this oscillator with two memristive terms are ***,the memristive oscillator is converted into a memristive map by applying linear transformation on the sampled time series for the memristive *** Hamilton energy function for the memristive oscillator is obtained by using the Helmholtz theorem,and it can be mapped from the field energy of the memristive *** energy function for the dual memristive map is suggested by imposing suitable weights on the discrete energy *** dynamical behaviors of the new memristive map are investigated,and an adaptive law is proposed to regulate the firing mode in the memristive *** work will provide a theoretical basis and experimental guidance for oscillator-to-map transformation and discrete map energy calculation.

关键词： Hamilton energy dual memristive map adaptive energy regulation

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Provenance of Conglomerate and Sandstone from early Permian Shoushangou Formation in Xi Ujimqin,Inner Mongolia:Implications for Understanding Paleo-Asian Ocean Subduction

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Acta Geologica Sinica(english edition) 2024年第1期98卷 10-31页

作者： ZHANG Yingli GUO Xianqing ma Shouxian MNR Key Laboratory of Metallogeny and Mineral Assessment Institute of Mineral ResourcesCAGSBeijing 100037China Chinese Academy of Geological Sciences Beijing 100037China

During the Late Carboniferous to early Permian,a rift was formed by post-collisional extension after ocean closure or an island arc-related basin formed by Paleo-Asian Ocean(PAO)subduction in the Xi Ujimqin ***,the closure time of the PAO is still under ***,to identify the origin of the PAO,the geochemistry and U-Pb age of zircons were analyzed for the extra-large deep marine,polymict clastic boulders and sandstones in the Shoushangou Formation within the *** analyses revealed magmatic activity and tectonic *** conglomerates include megaclasts of granite(298.8±9.1 ma)and granodiorite porphyry(297.1±3.1 ma),which were deposited by muddy debris *** of this study demonstrated that the boulders of granitoids have the geochemistry of typical I-type granite,characterized by low Zr+Nb+Ce+Y and low Ga/Al *** granitoid boulders were formed in island arc setting,indicating the presence of arc magmatism in the area that is composed of the Late Carboniferous to early Permian subduction-related granitoid in southern Xi *** diagrams for determining sedimentary provenance using major and trace elements indicate that Shoushangou sediments originated from continental island arc-related felsic *** zircon U-Pb age cluster of 330–280 ma was obtained,indicating input from granite,ophiolite,Xilin Gol complex,and Carboniferous sources to the *** basin was geographically developed behind the arc during the early Permian period because the outcropped intrusive rocks in the Late Carboniferous to early Permian form a volcanic *** comprehensive analyses of source areas suggest that Shoushangou sediments developed in a backarc basin in response to the northward subduction of the *** backarc basin and intrusive rocks,in addition to previously published Late Carboniferous to early Permian magmatic rocks of arc unit in Xilin Gol,confirm the presence of an early Permian trencharc-basin system in the region,r

关键词： provenance analysis backarc basin Shoushangou Formation early Permian Central Asian Orogenic Belt

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