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Detachment Behavior of Gecko Toe in Functional Strategies for Bionic Toe

Journal of Bionic Engineering 2024年第2期21卷 707-717页

作者： Qingfei Han Wei Wang Huan Shen xincheng feng Haoran Zhang Qian Li Yi Sun Huapeng Wu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of Technology53850LappeenrantaFinland State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their *** setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific *** majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the *** these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this *** specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 ***,it was observed that the toe assumed a"U"-shaped structure upon complete ***,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel *** the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential ***,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also *** our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe *** data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.

关键词： Gecko toes Detachment behavior Finite element analysis Gecko-inspired toe

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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

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Research 2024年第1期2023卷 149-163页

作者： Qian Li Haoze Li Huan Shen Yangguang Yu Haoran He xincheng feng Yi Sun Zhiyuan Mao Guangming Chen Zongjun Tian Lida Shen Xiangming Zheng Aihong Ji College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects that can perform flapping-wing flight,climb on a wall,and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic ***,very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and ***,we describe an aerial–wall amphibious robot that is self-contained for flying and climbing,and that can seamlessly move between the air and *** adopts a flapping/rotor hybrid power layout,which realizes not only efficient and controllable flight in the air but also attachment to,and climbing on,the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion *** the basis of the attachment mechanism of insect foot pads,the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable *** longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition,which has important implications in understanding the takeoff and landing of ***,it enables the robot to cross the air–wall boundary in 0.4 s(landing),and cross the wall–air boundary in 0.7 s(taking off).The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots,which can pave the way for future robots that can perform autonomous visual monitoring,human search and rescue,and tracking tasks in complex air–wall environments.

关键词： robot smoothly Vertical

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Estimation of the anisotropy of hydraulic conductivity through 3D fracture networks using the directional geological entropy

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International Journal of Mining Science and Technology 2024年第2期34卷 137-148页

作者： Chuangbing Zhou Zuyang Ye Chi Yao xincheng Fan feng Xiong School of Infrastructure Engineering Nanchang UniversityNanchang 330031China b School of Resource and Environmental Engineering Wuhan University of Science and TechnologyWuhan 430081China School of Engineering China University of GeosciencesWuhan 430074China

With an extension of the geological entropy concept in porous media,the approach called directional entrogram is applied to link hydraulic behavior to the anisotropy of the 3D fracture networks.A metric called directional entropic scale is used to measure the anisotropy of spatial order in different *** with the traditional connectivity indexes based on the statistics of fracture geometry,the directional entropic scale is capable to quantify the anisotropy of connectivity and hydraulic conductivity in heterogeneous 3D fracture *** to the numerical analysis of directional entrogram and fluid flow in a number of the 3D fracture networks,the hydraulic conductivities and entropic scales in different directions both increase with spatial order(i.e.,trace length decreasing and spacing increasing)and are independent of the dip *** a result,the nonlinear correlation between the hydraulic conductivities and entropic scales from different directions can be unified as quadratic polynomial function,which can shed light on the anisotropic effect of spatial order and global entropy on the heterogeneous hydraulic behaviors.

关键词： 3D fracture network Geological entropy Directional entropic scale Anisotropy Hydraulic conductivity

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基于形状记忆合金的仿壁虎柔性脚掌设计

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南京航空航天大学学报 2023年第3期55卷 427-436页

作者：冯鑫晟韩青非邱镓辉吉爱红南京航空航天大学机电学院南京210016

壁虎通过脚掌独特的外翻机制可以迅速地在壁面实现黏附与脱附。本文通过对壁虎脚掌外翻脱附过程的仿生研究,模仿壁虎外翻脱附机理,以形状记忆合金丝为驱动器,设计仿壁虎柔性脚掌,开展力学分析与计算。基于形状记忆合金的驱动特性及仿壁... 详细信息

壁虎通过脚掌独特的外翻机制可以迅速地在壁面实现黏附与脱附。本文通过对壁虎脚掌外翻脱附过程的仿生研究,模仿壁虎外翻脱附机理,以形状记忆合金丝为驱动器,设计仿壁虎柔性脚掌,开展力学分析与计算。基于形状记忆合金的驱动特性及仿壁虎机器人的运动步态,设计了仿壁虎柔性脚掌的控制策略。最后分析了脚趾有无外翻动作脱附时的受力情况,实验测试了柔性脚趾的弯曲与外翻脱附性能,验证了仿壁虎柔性脚掌设计的有效性和可行性。

关键词：壁虎仿生形状记忆合金柔性脚掌外翻脱附

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Magnetic flux control of chiral Majorana edge modes in topological superconductor

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Science China(Physics,Mechanics & Astronomy) 2018年第12期61卷 89-94页

作者： Yan-feng Zhou Zhe Hou Peng Lv xincheng Xie Qing-feng Sun International Center for Quantum Materials School of PhysicsPeking UniversityBeijing 100871China Collaborative Innovation Center of Quantum Matter Beijing 100871China CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of SciencesBeijing 100190China

We study the transport of chiral Majorana edge modes(CMEMs) in a hybrid quantum anomalous Hall insulator-topological superconductor(QAHI-TSC) system in which the TSC region contains a Josephson junction and a cavity. The Josephson junction undergoes a topological transition when the magnetic flux through the cavity passes through half-integer multiples of magnetic flux quantum. For the trivial phase, the CMEMs transmit along the QAHI-TSC interface as without magnetic flux. However, for the nontrivial phase, a zero-energy Majorana state appears in the cavity, leading to that a CMEM can resonantly tunnel through the Majorana state to a different CMEM. These findings may provide a feasible scheme to control the transport of CMEMs by using the magnetic flux and the transport pattern can be customized by setting the size of the TSC.

关键词： Majorana fermions Josephson junction topological superconductor non-equilibrium Green's function

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改良虹膜环扎术治疗青光眼术后永存瞳孔散大

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手术电子杂志 2024年第1期11卷 8-10页

作者：冯晴王梦娇孙新成南京医科大学附属常州第二人民医院眼科

本文主要介绍1例急性闭角型青光眼大发作后的患者,经过小梁切除及虹膜周边切除术,并二期行白内障超声乳化联合人工晶状体植入,术后残存瞳孔散大出现畏光不适等症状,通过改良虹膜环扎术进行治疗。手术要点主要是通过做4个角膜缘透明切口... 详细信息

本文主要介绍1例急性闭角型青光眼大发作后的患者,经过小梁切除及虹膜周边切除术,并二期行白内障超声乳化联合人工晶状体植入,术后残存瞳孔散大出现畏光不适等症状,通过改良虹膜环扎术进行治疗。手术要点主要是通过做4个角膜缘透明切口,将虹膜分为4段进行环扎缝合,根据瞳孔形态和虹膜周切口的位置调整缝线松紧后打结。术后效果良好,瞳孔外形呈类圆形,也避免了因虹膜周边切口被牵拉至角膜中央区致双瞳孔现象。

关键词：虹膜环扎术瞳孔散大青光眼

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成人24h眼压波动与原发性开角型青光眼患病率相关性研究

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中国实用眼科杂志 2017年第3期35卷 285-288页

作者：任佑凡谢秋菊冯新程何洪海冉建川重庆市黔江中心医院眼科重庆409000

目的探讨成人昼夜眼压波动现状与原发性开角型青光眼（POAG）患病率的相关性。方法临床病例回顾性研究，对2012年5月至2015年4月在重庆市黔江中心医院眼科住院患者、陪护人员和健康志愿者共258例516只眼接受24 h眼压监测，其中332只... 详细信息

目的探讨成人昼夜眼压波动现状与原发性开角型青光眼（POAG）患病率的相关性。方法临床病例回顾性研究，对2012年5月至2015年4月在重庆市黔江中心医院眼科住院患者、陪护人员和健康志愿者共258例516只眼接受24 h眼压监测，其中332只非患病眼球眼压资料纳入统计分析，对单次眼压偏高或眼压波动幅度较大眼进一步实施房角、眼底、视野等POAG排查。结果在检测的6个时点中，各时点眼压各不相同，最高值出现在上午7时，达（13.81±3.56）mmHg，此后眼压开始下降，最低值（12.77±3.42）mmHg出现在23时，凌晨再次呈回升之势。POAG各时点平均眼压超过18 mmHg，全天平均眼压（20.77±9.69）mmHg，患病率为3.92%（13/332）。结论 332只非患病眼球昼夜眼压处于动态变化之中，其中确诊POAG眼具有较高的静态眼压和较大的眼压波动幅度，异常眼压波动是原发性开角型青光眼患病危险因素。设置临界高眼压对部分正常眼压性青光眼的早期诊断可能有帮助。

关键词：眼内压波动原发性开角型青光眼患病率

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角膜铁屑异物取出时机探讨

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中国社区医师 2016年第8期32卷 44-45页

作者：任佑凡谢秋菊何洪海冯新程冉建川重庆市黔江中心医院眼科 409000

目的:探讨角膜铁屑异物简便、快捷、低损伤的取出时机。方法:收治角膜铁屑异物伤患者219例(222眼),按受伤后对异物取出时间分组,对各组异物锈蚀程度、取出难易度、伤口修复及感染情况进行对比分析。结果:早期取出组和后期取出组锈蚀轻... 详细信息

目的:探讨角膜铁屑异物简便、快捷、低损伤的取出时机。方法:收治角膜铁屑异物伤患者219例(222眼),按受伤后对异物取出时间分组,对各组异物锈蚀程度、取出难易度、伤口修复及感染情况进行对比分析。结果:早期取出组和后期取出组锈蚀轻、取出容易、修复较快。结论:角膜铁屑异物于伤后早期取出是首选取出时机。对就诊较晚的中期组,先滴抗生素眼药防感染,待后期局部急性炎症缓解、异物自行松动后很容易摘取,无明显医源性损伤,局部反应和修复情况均较理想,是第二个异物取出理想期。

关键词：异物眼外伤手术时机

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Current noises in a topological Josephson junction

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Science China(Physics,Mechanics & Astronomy) 2018年第9期61卷 75-81页

作者： Yu-Hang Li Jie Liu JunTao Song Hua Jiang Qing-feng Sun xincheng Xie International Center for Quantum Materials School of Physics Peking University Beijing 100871 China Department of Applied Physics School of Science Xi'an Jiaotong University Xi'an 710049 China Department of Physics and Hebei Advanced Thin Film Laboratory Hebei Normal University Shijiazhuang 050024 China College of Physics Optoelectronics and Energy Soochow University Suzhou 215006 China Collaborative Innovation Center of Quantum Matter Beijing 100871 China CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of Sciences Beijing 100190 China

We study the transport properties of a superconductor-quantum spin Hall insulator-superconductor Josephson junction both in the absence and in the presence of a DC bias voltage. As the system is predicted to host Majorana fermions at its interfaces,the Andreev bond states are supposed to exhibit a distinct 4π periodicity in the superconducting phase difference, namely the fractional Josephson effect. Using the non-equilibrium Green's function method, we calculate the current and the related current noise based on a tight-binding Hamiltonian. Our direct results show that the fractional Josephson effect can not be seen in equilibrium junctions. While in non-equilibrium junctions, this effect can be confirmed by the multiple Andreev reflections induced peaks of the non-equilibrium noise, which appear at discrete frequencies ω = ne V with n being an integer number.

关键词： Majorana fermions Josephson junction current noise non-equilibrium Green's function

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短波自由电子激光在原子分子和团簇中的应用

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自然杂志 2024年第3期46卷 203-220页

作者：董瑞超冯金泽王新成江玉海中国科学院上海高等研究院基础交叉中心上海201210 中国科学院大学未来技术学院北京100049 上海科技大学大科学中心/物质科学与技术学院上海201210

短波自由电子激光产生的从极紫外(XUV)至硬X射线范围内连续可调的超强、超快和高相干性的脉冲辐射,为研究原子、分子和团簇中的超快电子和结构动力学过程开辟了新的途径。从原子的少光子单电离、少光子多电离和多光子多电离过程,到单脉... 详细信息

短波自由电子激光产生的从极紫外(XUV)至硬X射线范围内连续可调的超强、超快和高相干性的脉冲辐射,为研究原子、分子和团簇中的超快电子和结构动力学过程开辟了新的途径。从原子的少光子单电离、少光子多电离和多光子多电离过程,到单脉冲的分子结构成像和时间分辨的分子动力学,再到团簇中的超快能量和质子转移过程,短波自由电子激光的应用非常广泛,并且取得了一系列重大的成果。通过一些科学案例,梳理了短波自由电子激光在原子、分子和团簇领域的研究进展。最后,总结了短波自由电子激光目前在该领域取得的成就,并展望了未来发展趋势。

关键词：自由电子激光内壳层电离多光子非线性超快动力学

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