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An Untethered Miniature Soft Jumping Robot Inspired by Quadrupeds

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Journal of Bionic Engineering 2023年第4期20卷 1467-1480页

作者： Tianliang Zhong fanan wei Zhushan Zhai Wenguang Yang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou350108China School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005ShandongChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016LiaoningChina

In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research *** the continuous efforts of researchers,many types of actuators have been developed and successfully employed to actuate the rapid locomotion of soft *** these mechanisms have enabled soft robots with excellent movement capabilities,they largely rely on external energy supply cables,which greatly limits their ***,it is still a big challenge to realize the unconstrained movement of the soft robot and the flexible adjustment of the movement direction in a narrow ***,a wireless magnetically controlled soft jumping robot with single-leg is proposed,which can achieve continuous and rapid jumping ***'s more interesting is that by changing the frequency and waveform of the control signal,this soft robot can easily switch between forward and backward *** motion direction switching function enables the magnetically controlled soft robot to return to the initial position without adjusting the direction when it completes the operation in a narrow pipe or takes the wrong path,which greatly improves the motion efficiency of the soft jumping robot and broadens its application field.

关键词： Wireless Magnetically controlled Soft robot Jumping Bidirectional motion

Fabrication of single-walled carbon nanotube-based highly sensitive gas sensors

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Science China(Technological Sciences) 2013年第1期56卷 32-35页

作者： XU Ke TIAN XiaoJun WU ChengDong LIU Jian LI MengXin SUN Ying wei fanan School of Information & Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Information Science and Engineering Northeastern University

A highly sensitive single-walled carbon nanotube(SWCNT)-based ammonia(NH3) gas detector is manufactured by orderly assembling SWCNT using the dielectrophoretical(DEP) *** force microscopy(AFM) and scanning electron microscopy(SEM) images revealed that SWCNTs were assembled between the *** were affected by the electrophoretic force which was carried out by the related theoretical analysis in a nonuniform electric *** SWCNT field effect transistors geometry was *** electrical performance of NH3 gas sensor with the SWCNT field effect transistors geometry was tested before and after the adoption of NH3 at room *** results indicated that the efficient assembly of SWCNT was obtained by the applied alternating current voltage with frequency of 2 MHz and amplitude of 10 *** SWCNTs-based gas sensor had high sensitivity to NH3,and the electrical conductance of NH3 gas sensor reduced two times after interaction with *** SWCNTs surface gas molecules were removed by means of ultraviolet ray irradiation for 10 ***,the fabricated NH3 gas sensor could be *** is a clear evidence that the adsorption of NH3 on the SWCNT channel is easy to be *** theoretical results are consistent with recent experiments.

关键词： single-walled carbon nanotube field effect transistor assembly dielectrophoresis ammonia gas sensor

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面向微细加工的二自由度磁悬浮平台

西南交通大学学报 2023年第6期58卷 1318-1327页

作者：魏发南刘英福州大学先进制造学院福建晋江362200

为消除激光微细加工移动台中的机械摩擦,提出一种由三组子单元共同悬浮驱动的新型磁浮平台.首先,介绍平台结构及其工作原理,三组子单元具有相同的结构,由永磁体和电磁线圈构成;分析线圈对永磁体的作用力,并对磁悬浮平台能够实现稳定悬... 详细信息

为消除激光微细加工移动台中的机械摩擦,提出一种由三组子单元共同悬浮驱动的新型磁浮平台.首先,介绍平台结构及其工作原理,三组子单元具有相同的结构,由永磁体和电磁线圈构成;分析线圈对永磁体的作用力,并对磁悬浮平台能够实现稳定悬浮的平面范围进行讨论;其次,建立磁悬浮平台的平面内的动力学模型以及子单元位移与平台位移的变换方程;再者,基于分散控制策略,设计子单元系统相应的模糊PD (proportionalderivative)控制器;最后,搭建实物平台,并对其进行静态悬浮实验、步进响应实验、双轴组合工作实验.结果表明:该磁悬浮平台在±2 mm的平面范围内可忽略竖直方向的运动控制;在静态悬浮时,磁悬浮平台在x方向均方根误差仅为2.95μm,最大跟踪误差为11μm;同时磁悬浮平台具备4 mm的运动行程以及双轴组合工作能力.

关键词：磁浮平台模糊PD控制有限元仿真分散控制

A low-frequency and broadband wave-insulating vibration isolator based on plate-shaped metastructures

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Applied Mathematics and Mechanics(English Edition) 2024年第7期45卷 1171-1188页

作者： wei wei Feng GUAN Xin FANG College of Intelligent Science National University of Defense TechnologyChangsha410073China Naval Research Academy Beijing100161China

A metamaterial vibration isolator,termed as wave-insulating isolator,is proposed,which preserves enough load-bearing capability and offers ultra-low and broad bandgaps for greatly enhanced wave *** consists of plate-shaped metacells,whose symmetric and antisymmetric local resonant modes offer several low and broad mode bandgaps although the complete bandgap remains high and *** bandgap mechanisms,vibration isolation properties,effects of key parameters,and robustness to complex conditions are *** experimentally demonstrated,the wave-insulating isolator can improve the vibration insulation in the ranges of[50 Hz,180 Hz]and[260 Hz,400 Hz]by 15 dB and 25 dB,respectively,in contrast to the conventional isolator with the same first resonant frequency.

关键词： metamaterial and metastructure vibration isolation bandgap wave insulation plate

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茴香菖蒲,一种新的香料植物

广西植物 1985年第3期 179-182页

作者：韦发南李荫昆广西植物研究所广西植物研究所

在广西和湖南的一些地区,群众常用天南星科菖蒲属的一种植物作食用香料。这种植物尽管在外形和气味上,与石菖蒲(Acorus tatarinowii)迥然不同,但两者却经常混淆不清,导致了应用上的差错。近年来,我所从事植物化学研究的程菊英等同志,... 详细信息

在广西和湖南的一些地区,群众常用天南星科菖蒲属的一种植物作食用香料。这种植物尽管在外形和气味上,与石菖蒲(Acorus tatarinowii)迥然不同,但两者却经常混淆不清,导致了应用上的差错。近年来,我所从事植物化学研究的程菊英等同志,对它的成分作了分析,发现其内含物与石菖蒲差异很大。这是一种未被人们所熟悉和利用的、很可能有发展前景的食用香料植物。我们根据它的芳香油具有浓郁的茴香气味这一特点,将它的中文名称命名为“茴香菖蒲”。

关键词：茴香菖蒲香料植物

Planet wind: Planetary evolution dominated by electromagnetic forces

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Science China Earth Sciences 2024年第10期67卷 3331-3336页

作者： Yong wei Key Laboratory of Earth and Planetary Physics Institute of Geology and GeophysicsChinese Academy of SciencesBeijing 100029China College of Earth and Planetary Sciences University of Chinese Academy of SciencesBeijing 100049China

1. Introduction Over the five centuries since Copernicus, the focus of planetary science has transitioned from the visible realm to the invisible. In the more than 60 years following the advent of the space age, our a... 详细信息

关键词： evolution dominated planetary

The lithology and composition of lunar mantle modified by ilmenite bearing cumulate:A thermodynamic model

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Acta Geochimica 2024年第5期43卷 856-875页

作者： wei Huang wei Du State Key Laboratory of Ore Deposit Geochemistry Institute of GeochemistryChinese Academy of SciencesGuiyang 550081China University of Chinese Academy of Sciences Beijing 100049China Center for Excellence in Comparative Planetology Chinese Academy of SciencesHefei 230026China

Due to their high density,the ilmenite-bearing cumulates(IBC)(with or without KREEP)formed during the late-stage lunar magma ocean solidification are thought to sink into the underlying lunar mantle and trigger lunar mantle *** evidence implied that IBC may descend deep inside the Moon and remain as a partially molten layer at the core-mantle boundary(CMB).However,partial melting may have occurred on the mixed mantle cumulates during the sinking of IBC/KREEP and the silicate melt may be positively buoyant,thus preventing the IBC/KREEP layer from sinking to the ***,we perform thermodynamic simulation on the stability of lunar mantle cumulates at different depths mixed with different amounts of IBC/KREEP from an updated LMO *** modeling results suggest that the sinking of IBC/KREEP will cause at least 5 wt%partial melting in the shallow(~120 km)and a much larger degree of partial melting in the deep lunar mantle(~420 km).Due to the density contrast with the surrounding mantle,IBC/KREEP-bearing melts could potentially decouple under certain *** modified lunar mantle by sinking of IBC/KREEP can better explain the formation of different kinds of lunar basaltic magma than the primary lunar mantle formed through differentiation of lunar magma *** of IBC/KREEP back into the lunar mantle may introduce plagioclase,clinopyroxene,garnet,and incompatible radioactive elements into the deep lunar mantle,which will further affect the thermal and chemical evolution of the lunar interior.

关键词： Ilmenite-bearing cumulate KREEP Partial melting Lunar mantle overturn pMELTS

Task-specific Part Discovery for Fine-grained Few-shot Classification

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Machine Intelligence Research 2024年第5期21卷 954-965页

作者： Yongxian wei Xiu-Shen wei School of Computer Science and Technology Nanjing University of Science and TechnologyNanjing210094China

Localizing discriminative object parts(e.g.,bird head)is crucial for fine-grained classification tasks,especially for the more challenging fine-grained few-shot *** work always relies on the learned object parts in a unified manner,where they attend the same object parts(even with common attention weights)for different few-shot episodic *** this paper,we propose that it should adaptively capture the task-specific object parts that require attention for each few-shot task,since the parts that can distinguish different tasks are naturally *** for a few-shot task,after obtaining part-level deep features,we learn a task-specific part-based dictionary for both aligning and reweighting part features in an ***,part-level categorical prototypes are generated based on the part features of support data,which are later employed by calculating distances to classify query data for *** retain the discriminative ability of the part-level representations(i.e.,part features and part prototypes),we design an optimal transport solution that also utilizes query data in a transductive way to optimize the aforementioned distance calculation for the final *** experiments on five fine-grained benchmarks show the superiority of our method,especially for the 1-shot setting,gaining 0.12%,8.56%and 5.87%improvements over state-of-the-art methods on CUB,Stanford Dogs,and Stanford Cars,respectively.

关键词： Fine-grained image recognition few-shot learning transductive learning visual dictionary part feature discovery

Humic acid-mediated transport of a typical soil passivation remediation product(chloropyromorphite)in saturated porous media

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Journal of Environmental Sciences 2024年第7期141卷 51-62页

作者： Xinying Li Mengjia Zhang Siyuan Li wei wei School of Environment Jiangsu Engineering Lab of Water and Soil Eco-remediationJiangsu Province Engineering Research Center of Environmental Risk Prevention and Emergency Response TechnologyNanjing Normal UniversityNanjing 210023China Jiangsu Center for Collaborative Innovation in Geographical Information Resource Development and Application Nanjing 210023China

Conversion of labile Pb species into chloropyromorphite(CPY)using phosphorus-bearing amendments was considered to be an ideal strategy in soil passivation ***,the fate and transport of CPY in the soil are poorly *** study aims to fill the knowledge gap by evaluating the fate and transport of CPY under environmentally relevant conditions of humic acid(HA),pH,electrolyte concentration,and species through the saturated sandy *** showed that bare CPY colloids are basically immobile in sandy porous media while the co-existence of HA made the transport of CPY improved by30%-93.5%.Facilitated transport of CPY was attributed to the increased stability of CPY and the repulsive interaction between CPY particles and sands due to HA *** mobility of CPY was also increased with increasing pH from 5.0 to *** the pH was 9 with a10 mmol/L NaCl background solution,the stronger energy barrier between CPY and sand led to enhanced transport *** divalent Ca^(2+)had a more dramatic effect than monovalent Na^(+)on the aggregation and sedimentation of CPY colloids due to its effectivescreening of the surface charge of CPY and bridging interaction with CPY ***-LandauVerwey-Overbeek theory and attachment efficiency calculation indicated that high energy barriers were responsible for the high mobility of CPY colloids,while the retention of CPY in sands was mainly caused by secondary energy minimum and physically *** findings of this work can help to evaluate the fate of soil passivation remediation products in natural water and soil.

关键词： Chloropyromorphite DLVO theory Stability Saturated porous medium Transport