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Development of underwater electric manipulator based on interventional autonomous underwater vehicle (AUV)

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第3期25卷 238-250页

作者： Xiaohui hu Jiawang CHEN Hang ZHOU Ziqiang REN Ocean cllege Zhejiang UniversityZhoushan 316021China Hainan Institute Zhejiang UniversitySanya 572025China The Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of EducationZhoushan 316021China

In applications such as marine rescue,marine science,archaeology,and offshore industries,autonomous underwater vehicles(AUVs)are frequently used for survey missions and monitoring tasks,with most operations being performed by manned submersibles or remotely operated vehicles(ROVs)equipped with robotic arms,as they can be operated remotely for days without ***,they require expensive marine vessels and specialist pilots to operate *** exploring oceans are no longer satisfied with the use of manned submersibles and *** is a growing desire for seabed exploration to be performed using smarter,more flexible,and automated *** improving the field operation and intervention capability of AUVs,large-scale and long-range seafloor exploration and sampling can be performed without the support of a mother ship,making it a more effective,economical,convenient,and rapid means of seafloor exploration and sampling operations,and playing a critical role in marine resource *** this study,we explored the integration technology of underwater electric robotic arms and AUVs and designed a new set of electric manipulators suitable for water depths greater than 500 *** reliability of the key components was analyzed by finite element analysis and,based on the theory of robot kinematics and dynamics,simulations were performed to verify the reliability of the key *** were conducted on land and underwater,trajectory tracking experiments were completed,and the experimental data in air and water were compared and ***,the objectives for further research on the autonomous control of the manipulator underwater were proposed.

关键词： Underwater electric manipulator Inverse kinematics Trajectory planning Trajectory tracking accuracy

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Simplified design of nonlinear damper parameters and seismic responses for long-span cable-stayed bridges with nonlinear viscous dampers

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Frontiers of Structural and Civil Engineering 2024年第7期18卷 1103-1116页

作者： huihui LI Lifeng LI Rui hu Meng YE College of Civil and Transportation Engineering Shenzhen UniversityShenzhen 518060China Guangdong Provincial Key Laboratory of Durability for Marine Civil Engineering Shenzhen UniversityShenzhen 518060China College of Civil Engineering Hunan UniversityChangsha 410082China

Viscous dampers are widely used as passive energy dissipation devices for long-span cable-stayed bridges for mitigation of seismic load-induced ***,complicated finite element(FE)modeling,together with repetitive and computationally intensive nonlinear time-history analyses(NTHAs)are generally required in conventional design *** streamline the preliminary design process,this paper developed a simplified longitudinal double degree of freedom model(DDFM)for single and symmetric twin-tower cable-stayed *** on the proposed simplified longitudinal DDFM,the analytical equations for the relevant mass-and stiffness-related parameters and longitudinal natural frequencies of the structure were derived by using analytical and energy *** of the relationship between the nonlinear viscous damper parameters and the equivalent damping ratio was achieved through the equivalent linearization ***,the analytical equations of longitudinal seismic responses for long-span cable-stayed bridges with nonlinear viscous dampers were *** on the developed simplified DDFM and suggested analytical equations,this paper proposed a simplified calculation framework to achieve a simplified design method of nonlinear viscous damper ***,the effectiveness and applicability of the developed simplified longitudinal DDFM and the proposed calculation framework were further validated through numerical analysis of a practical cable-stayed ***,the results indicated the following.1)For the obtained fundamental period and longitudinal stiffness,the differences between results of the simplified longitudinal DDFM and numerical analysis were only 2.05%and 1.5%,respectively.2)Relative calculation errors of the longitudinal girder-end displacement and bending moment of the bottom tower section of the bridge obtained from the simplified longitudinal DDFM were limited to less than 25%.3)The equivalent damping ratio of nonline

关键词： cable-stayed bridges viscous dampers simplified analytical model equivalent damping ratio seismic mitigation

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Nanoforming of transferred metal contacts for enhanced twodimensional field effect transistors

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Nano Research 2024年第4期17卷 3210-3216页

作者： Shuoheng Xu Zheng huang Jie Guan Yaowu hu The Institute of Technological Sciences Wuhan UniversityWuhan 430072China School of Power and Mechanical Engineering Wuhan UniversityWuhan 430072China School of Physics Southeast UniversityNanjing 211189China

Two-dimensional transition metal chalcogenides(2D-TMDs)have attracted much attention because of their unique layered structure and physical properties for transistor *** transferred metal contacts on these low-dimensional materials or their homogeneous and heterogeneous multilayers have generated huge interest to avoid deposition *** this paper,we show that there are large physical gaps at both the edge contact and surface contact between the transferred electrodes and the 2D materials.A method called laser shock induced superplastic deformation(LSISD)is proposed to tackle this issue and enhance the performance of the *** enhancement mechanism was investigated by molecular dynamics(MD)simulations of the nanoforming process,atomic force microscopy(AFM),scanning electron microscopy(SEM),transmission electron microscopy(TEM)characterizations of the interfaces,and density functional theory(DFT)*** force effect of laser shock can reduce the contact gap between metals and *** electrical performances of the transistors before and after LSISD,along with MD simulations,are used to find the optimal process *** addition,this paper applies the LSISD method to the short-channel MoS_(2)/graphene vertical transistors to show potential improvement in interface contact and electrical *** paper demonstrates the first report on using mechanical force induced by laser shock to enhance metal–semiconductor interfaces and transistor performances.

关键词： laser shock nanoforming metal-semiconductor contact electronics two-dimensional transistors

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The action mechanism of the work done by the electric field force on moving charges to stimulate the emergence of carrier generation/recombination in a PN junction

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Applied Mathematics and Mechanics(English Edition) 2024年第6期45卷 1001-1014页

作者： Lingyun GUO Yizhan YANG Wanli YANG Yuantai hu Department of Mechanics School of Aerospace EngineeringHubei Key Laboratory of Engineering Structural Analysis and Safety AssessmentHuazhong University of Science and TechnologyWuhan 430074China

It is discovered that the product of the current and the electric field in a PN junction should be regarded as the rate of work(power)done by the electric field force on moving charges(hole current and electron current),which was previously misinterpreted as solely a Joule heating *** clarify that it is exactly the work done by the electric field force on the moving charges to stimulate the emergence of non-equilibrium carriers,which triggers the novel physical *** regards to Joule heat,we point out that it should be calculated from Ohm’s law,rather than simply from the product of the current and the electric *** on this understanding,we conduct thorough discussion on the role of the electric field force in the process of carrier recombination and carrier *** thermal effects of carrier recombination and carrier generation followed are incorporated into the thermal equation of *** present study shows that the exothermic effect of carrier recombination leads to a temperature rise at the PN interface,while the endothermic effect of carrier generation causes a temperature reduction at the *** two opposite effects cause opposite heat flow directions in the PN junction under forward and backward bias voltages,highlighting the significance of managing device heating phenomena in design ***,this study possesses referential significance for the design and tuning on the performance of piezotronic devices.

关键词： piezoelectric semiconductor(PS) work done by electric field force thermal effect piezotronic device resistivity conductivity

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Reconfigurable mechanism-based metamaterials for ternary-coded elastic wave polarizers and programmable refraction control

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Applied Mathematics and Mechanics(English Edition) 2024年第7期45卷 1225-1242页

作者： Zhou hu Zhibo WEI Yan CHEN Rui Zhu School of Aerospace Engineering Beijing Institute of TechnologyBeijing100081China School of Mechanical Engineering Tianjin UniversityTianjin300350China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin300350China

Elastic metamaterials with unusual elastic properties offer unprecedented ways to modulate the polarization and propagation of elastic ***,most of them rely on the resonant structural components,and thus are frequency-dependent and ***,we present a reconfigurable 2D mechanism-based metamaterial which possesses transformable and frequency-independent elastic *** on the proposed mechanism-based metamaterial,interesting functionalities,such as ternarycoded elastic wave polarizer and programmable refraction,are ***,unique ternary-coded polarizers,with 1-trit polarization filtering and 2-trit polarization separating of longitudinal and transverse waves,are first ***,the strong anisotropy of the proposed metamaterial is harnessed to realize positive-negative bi-refraction,only-positive refraction,and only-negative ***,the wave functions with detailed microstructures are numerically verified.

关键词： elastic metamaterial elastic wave reconfigurable design zero mode ternary code programmable refraction

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A viscoelastic metamaterial beam for integrated vibration isolation and energy harvesting

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Applied Mathematics and Mechanics(English Edition) 2024年第7期45卷 1243-1260页

作者： Long ZHAO Zeqi LU hu DING Liqun CHEN Shanghai Institute of Applied Mathematics and Mechanics Shanghai Key Laboratory of Mechanics in Energy EngineeringShanghai Frontier Science Center of MechanoinformaticsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai200072China School of Microelectronics Shanghai UniversityShanghai201800China

Locally resonant metamaterials have low-frequency band gaps and the capability of converging vibratory energy in the band gaps at resonant *** has been demonstrated by several researchers that the dissipatioin of vibratory energy within the band gap can be improved by using viscoelastic *** paper designs an integrated viscoelastic metamaterial for energy harvesting and vibration *** viscoelastic metamaterial is achieved by a viscoelastic beam periodically arrayed with spatial ball-pendulum nonlinear energy *** nonlinear resonator with an energy harvesting function is achieved by placing a free-rolling magnetic ball in a spherical cavity with an additional induction *** dynamic equations of viscoelastic metamaterials under transverse excitation are established,and the energy harvesting and vibration isolation characteristics within the dispersion relation of viscoelastic metamaterials are *** results show that the vibrations of the main body of the viscoelastic metamaterial beam are significantly suppressed in the frequency range of the local resonance band *** the same time,the elastic waves are limited in the nonlinear resonator with an energy harvesting function,which improves the energy ***,an experimental platform of viscoelastic metamaterial vibration is established for validation purposes.

关键词： viscoelastic metamaterial nonlinear vibration vibration isolation energy harvesting

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Natural vibration and critical velocity of translating Timoshenko beam with non-homogeneous boundaries

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Applied Mathematics and Mechanics(English Edition) 2024年第9期45卷 1523-1538页

作者： Yanan LI Jieyu DING hu DING Liqun CHEN Shanghai Institute of Applied Mathematics and Mechanics Shanghai Key Laboratory of Mechanics in Energy EngineeringShanghai Frontier Science Center of MechanoinformaticsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai 200072China School of Mathematics and Statistics Qingdao UniversityQingdao 266071Shandong ProvinceChina

In most practical engineering applications,the translating belt wraps around two fixed *** boundary conditions of the dynamic model are typically specified as simply supported or fixed *** this paper,non-homogeneous boundaries are introduced by the support *** the translating belt as the mechanical prototype,the vibration characteristics of translating Timoshenko beam models with nonhomogeneous boundaries are investigated for the first *** governing equations of Timoshenko beam are deduced by employing the generalized Hamilton's *** effects of parameters such as the radius of wheel and the length of belt on vibration characteristics including the equilibrium deformations,critical velocities,natural frequencies,and modes,are numerically calculated and *** numerical results indicate that the beam experiences deformation characterized by varying curvatures near the *** radii of the wheels play a pivotal role in determining the change in trend of the relative difference between two beam *** the results unearths that the relative difference in equilibrium deformations between the two beam models is more pronounced with smaller-sized *** the two wheels are of equal size,the critical velocities of both beam models reach their respective *** addition,the relative difference in natural frequencies between the two beam models exhibits nonlinear variation and can easily exceed 50%.Furthermore,as the axial velocities increase,the impact of non-homogeneous boundaries on modal shape of translating beam becomes more *** dealing with non-homogeneous boundaries is challenging,beam models with non-homogeneous boundaries are more sensitive to parameters,and the differences between the two types of beams undergo some interesting variations under the influence of non-homogeneous boundaries.

关键词： translating beam Timoshenko beam non-homogeneous boundary natural frequency critical velocity

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Memristive oscillator to memristive map,energy characteristic

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Science China(Technological Sciences) 2024年第5期67卷 1567-1578页

作者： GUO YiTong MA Jun ZHANG XiaoFeng hu XiKui College of Electrical and Information Engineering Lanzhou University of TechnologyLanzhou730050China Department of Physics Lanzhou University of TechnologyLanzhou730050China School of Science Chongqing University of Posts and TelecommunicationsChongqing400065China

Most of nonlinear oscillators composed of capacitive and inductive variables can obtain the Hamilton energy by using the Helmholtz theorem when the models are rewritten in equivalent vector *** energy functions for biophysical neurons can be obtained by applying scale transformation on the physical field energy in their equivalent neural *** dynamical systems often have exact energy functions,while some mathematical models just suggest generic Lyapunov functions,and the energy function is effective to predict mode *** this paper,a memristive oscillator is approached by two kinds of memristor-based nonlinear circuits,and the energy functions are defined to predict the dependence of oscillatory modes on energy *** absence of capacitive variable for capacitor,the physical time t and charge q are converted into dimensionless variables by using combination of resistance and inductance(L,R),e.g.,τ=t×R/*** energy function for each memristive map is proposed by applying the similar weights as energy function for the memristive *** example,energy function for the map is obtained by replacing the variables and parameters of the memristive oscillator with corresponding variables and parameters for the memristive *** memristive map prefers to keep lower average energy than the memristive oscillator,and chaos is generated in a discrete system with two *** scheme is helpful for energy definition in maps,and it provides possible guidance for verifying the reliability of maps by considering the energy characteristic.

关键词： Hamilton energy memristor Helmholtz theorem scale transformation memristive circuit

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An impact sensitivity assessment method of spacecraft based on virtual exterior wall

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Defence Technology（防务技术） 2024年第1期31卷 142-157页

作者： Runqiang Chi Yuyan Liu Diqi hu Baojun Pang Hypervelocity Impact Research Center Harbin Institute Of TechnologyHarbin150080China

The impact sensitivity assessment of spacecraft is to obtain the probability of spacecraft encountering the OD/M(orbital debris or meteoroid),which is a prerequisite for survivability assessment of on-orbit *** impact sensitivity assessment method of spacecraft based on virtual exterior wall was proposed to improve the computational *** method eliminates determination of the outermost surface elements of the spacecraft before generating the debris rays,which are assumed to originate from a non-concave virtual wall that completely wraps the *** Dist Mesh method was adopted for the generating of the virtual wall to ensure its mesh *** influences of the sizes,mesh densities,shapes of the virtual wall on the efficiency and accuracy were considered to obtain the best combination of the size and mesh density of the wall and *** results of this method were compared with those of S3DE(Survivability of Spacecraft in Space Debris Environment),BUMPER,MDPANTO,ESABASE2/Debris to verify the feasibility of the *** PCHIP(Piecewise Cubic Hermite Interpolating Polynomial)was used to fit the size *** relationship of the space debris to acquire the impact probability of OD/M with arbitrary size on the spacecraft.

关键词： Sensitivity OD/M Spacecraft Virtual exterior wall

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Feedback Mechanism-driven Mutation Reptile Search Algorithm for Optimizing Interpolation Developable Surfaces

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Journal of Bionic Engineering 2024年第1期21卷 527-571页

作者： Gang hu Jiao Wang Xiaoni Zhu Muhammad Abbas Department of Applied Mathematics Xi'an University of TechnologyXi'an 710054China School of Mechanical and Precision Instrument Engineering Xi'an University of TechnologyXi'an 710048China Department of Mathematics University of SargodhaSargodha 40100Pakistan

Curvature lines are special and important curves on *** is of great significance to construct developable surface interpolated on curvature lines in engineering *** this paper,the shape optimization of generalized cubic ball developable surface interpolated on the curvature line is studied by using the improved reptile search ***,based on the curvature line of generalized cubic ball curve with shape adjustable,this paper gives the construction method of SGC-Ball developable surface interpolated on the ***,the feedback mechanism,adaptive parameters and mutation strategy are introduced into the reptile search algorithm,and the Feedback mechanism-driven improved reptile search algorithm effectively improves the solving *** IEEE congress on evolutionary computation 2014,2017,2019 and four engineering design problems,the feedback mechanism-driven improved reptile search algorithm is compared with other representative methods,and the result indicates that the solution performance of the feedback mechanism-driven improved reptile search algorithm is *** last,taking the minimum energy as the evaluation index,the shape optimization model of SGC-Ball interpolation developable surface is *** developable surface with the minimum energy is achieved with the help of the feedback mechanism-driven improved reptile search algorithm,and the comparison experiment verifies the superiority of the feedback mechanism-driven improved reptile search algorithm for the shape optimization problem.

关键词： Reptile search algorithm Feedback mechanism Adaptive parameter Mutation strategy SGC-Ball interpolation developable surface Shape optimization

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