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On Adaptive Grasp with Underactuated Anthropomorphic Hands

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Journal of Bionic Engineering 2016年第1期13卷 59-72页

作者： Wenrui Chen Caihua xiong Institute of Rehabilitation and Medical Robotics State Key Lab of Digital Manufacturing Equipment and TechnologySchool of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands during underactuated grasping process. The goal of this paper is to develop a design method of underactuated anthropomorphic hands to guarantee reliable adaption to different grasped objects. An analysis method is developed to investigate the evolution of motion and force in the whole underactuated grasping process. Based on the evolution of motion and force, the underactuated grasping process is decomposed into four aspects including initial contact state, grasp terminal state, grasp trajectory and rate of progress. More- over, the influence factors of such four aspects are found as the form of the combinations of underactuated mechanism pa- rameters. According to the four aspects of the underactuated grasping process, this paper presents a stepwise parameter design method through optimization of parameter combinations step-by-step. The reliable adaptive grasp for a wide scale of grasped object size is achieved. Experimental setups are constructed to corroborate the results from the theory analysis and design.

关键词： anthropomorphic hands underactuated hands grasping adaptability mechanism design

A Compact High Power Laser-Diode Side-Pumped Tm,Ho：YAG Laser Nearly at Room Temperature with Intracavity Tm：YAG Laser

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Chinese Physics Letters 2014年第4期31卷 54-56页

作者： ZHANG Chao DU Shi-Feng NIU yan-xiong WANG Cai-Li WANG Zhi-Chao XUJia-Lin BO Yong PENG Qin-Jun CUI Da-Fu XU Zu-yan ~chool of Instrument science and Optoelectronic Engineering Beihang University Beijing 100189 Research Center for Laser Physics and technology Key Lab of Functional Crystal and Laser Technology Technical Institute of Physics and Chemistry Chinese Academy of Sciences Beijing 100190

We report a compact high power Tm,Ho：YAG laser nearly at room temperature. The laser-diode side-pumped Tm：YAG and Tm,Ho：YAG laser modules are operated in the same cavity. The laser yields 37.34 W of continuous wave output power under the temperature of 6℃, corresponding to a maximum slope efficiency of 16.7% when the output power lies from 5.1 W to 27.0 W. This is the first report on the combined Tm：YAG and Tm,Ho：YAG lasers for obtaining high power 2.1 μm laser.

关键词： Laser A Compact High Power same

Enhanced Adhesion of Mussel-inspired Adhesive through Manipulating Contents of Dopamine Methacrylamide and Molecular Weight of Polymer

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Journal of Bionic Engineering 2018年第3期15卷 461-470页

作者： xiong xiong Yumei Liu Feng Shi Guowei Zhang Jie Weng Shuxin Qu key lab of Advanced Technologies of Materials Ministry of Education School of Materials Science and Engineering Southwest Jiaotong University Chengdu 610031 China School of Life science and Engineering Southwest Jiaotong University Chengdu 610031 China College of Environmental science and Engineering China West Normal University Nanchong 637009 China Collaboration Innovation Center for Tissue Repair Material Engineering technology China West Normal University Nanehong 637009 China

The aim of this study is to investigate the effect of the contents of modified 3, 4-dihydroxyphenyl-L-alanine （DOPA）, named as do- pamine methacrylamide （DMA）, on the adhesion of mussel-inspired adhesives in air and water. A series of adhesives, p（DMA-co-MEA）, were synthesized by copolymerized DMA and methoxy ethylacrylate （MEA） with the content of DMA from 2 mol.% to 10 mol.%. Results of IH NMR show that the contents of DMA in all adhesives are near to the theory ratios of DMA in the staring reagents. Adhesives with more than 5 mol.% of DMA appear adhesion, while adhesives with 2 mol. % and 3 mol. % of DMA show almost no adhesion in air and water. Adhesive with 7 mol.% of DMA has the highest molecular weight and adhesion either in air or in water in all adhesives. Adhesion of adhesive is synergistically influenced by the content of DMA, molecular weight and elastic modulus of adhesive. It is because that higher content of DMA would provide more DOPA, which leads to the coordination bond between DOPA and metal ions. It is feasible to develop the mussel-inspired adhesive through incorporating DMA into polymers, which will have potential application in the clinic.

关键词： mussel-inspired adhesive adhesion dopamine methacrylamide

大气空间和季节性气候特征对RLV升力式再入飞行的影响

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宇航学报 2024年第1期45卷 81-90页

作者：杜涛廖雨舟张曙光程旋胡雄李静琳王紫扬北京宇航系统工程研究所北京100076 北京航空航天大学交通科学与工程学院北京100191 中国科学院国家空间科学中心太阳活动与空间天气国家重点实验室/中国科学院空间环境态势感知技术重点实验室北京100190

为提升重复使用运载器(RLV)竞争力精细化设计边界,在融合3颗卫星载荷采集的大气数据基础上,采用大/小尺度扰动分别建模的方法,建立了沿RLV再入飞行轨道的全域参考大气模型,开展了大气密度空间性和季节性(1月、4月、7月和10月)气候变化... 详细信息

为提升重复使用运载器(RLV)竞争力精细化设计边界,在融合3颗卫星载荷采集的大气数据基础上,采用大/小尺度扰动分别建模的方法,建立了沿RLV再入飞行轨道的全域参考大气模型,开展了大气密度空间性和季节性(1月、4月、7月和10月)气候变化对跟踪RLV高纬度升力式再入标准轨道的影响分析。结果显示季节性和轨道空间性变化带来的大气密度偏差特性和散布特性,会强烈影响跟踪标准轨道的终端分布特征。这表明引入大气参考模型可以提升RLV性能,降低运行成本。

关键词：重复使用运载器(RLV) 再入飞行参考大气模型(GRAM) 季节性气候特征

化学团聚耦合低温省煤器强化除尘协同脱硫废水零排放试验研究

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中国电机工程学报 2024年第6期44卷 2292-2300,I0017页

作者：王志康雍恒杨刚中熊卓赵永椿张军营煤燃烧国家重点实验室(华中科技大学) 湖北省武汉市430074

煤燃烧产生的细颗粒物和烟气脱硫产生的脱硫废水是燃煤电厂污染治理的难点。该文提出一种化学团聚耦合低温省煤器强化除尘协同脱硫废水零排放的处理工艺。将加入团聚剂的工艺水或脱硫废水通过双流体雾化喷入低温省煤器前烟道,细颗粒物... 详细信息

煤燃烧产生的细颗粒物和烟气脱硫产生的脱硫废水是燃煤电厂污染治理的难点。该文提出一种化学团聚耦合低温省煤器强化除尘协同脱硫废水零排放的处理工艺。将加入团聚剂的工艺水或脱硫废水通过双流体雾化喷入低温省煤器前烟道,细颗粒物在化学团聚剂液桥力的作用下发生团聚长大,沿程水分蒸发后,液桥力转化为固桥力形成大的团聚体,耦合低温省煤器促进静电除尘器对细颗粒物的脱除效率。示范试验结果表明,运行化学团聚可使粉尘排放浓度降低63.1%,168 h内平均粉尘排放浓度为2.66 mg/m^(3);基于运行数据优化了团聚剂喷量与低温省煤器循环水量;连续运行脱硫废水对强化除尘效果没有明显影响,实现了超低排放以及脱硫废水零排放。

关键词：化学团聚强化除尘低温省煤器脱硫废水燃煤电厂超低排放

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吸湿排汗纤维及其作用原理研究

上海纺织科技 2004年第2期32卷 6-7,38页

作者：翟涵徐小丽王其薛斌东华大学纺织面料技术教育部重点实验室上海200051 仪征化纤股份有限公司江苏仪征211900

通过对异型吸湿排汗纤维结构、作用机理的分析 ,及对纱线、织物的吸湿排汗性能、耐洗涤性能和其他物理机械性能的对比实验测试分析。

关键词：吸湿排汗纤维纤维结构作用机理吸湿排汗功能耐洗涤性能纱线织物 Coolbst纤维

Growth of AgBr/Ag_(3)PO_(4) Heterojunction on Chitosan Fibers for Degrading Organic Pollutants

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Advanced Fiber Materials 2020年第5期2卷 246-255页

作者： Si-wei xiong yan Yu Pei Wang Man Liu Shao-hua Chen Xian-ze Yin Luo-xin Wang Hua Wang College of Materials science and Engineering State Key Laboratory of New Textile Materials and Advanced Processing TechnologyWuhan Textile UniversityWuhan 430073People’s Republic of China Sichuan textile science Research Institute Chengdu 610072People’s Republic of China

Using Fiber as the based material for photocatalyst particles is favorable for their recovery,thereby avoiding the photocatalyst particles cause secondary pollution to water *** this work,the AgBr and Ag_(3)PO_(4) photocatalyst particles were loaded onto the surface of chitosan fiber(CF)via chelation and in situ anion-exchange *** photocatalytic results illustrated that the AgBr/Ag_(3)PO_(4)/CF composites displayed the best photocatalytic performance when the mass ratio of Ag_(3)PO_(4) and AgBr onto the CF was approximately 1:0.15,their degradation rate can reach 98.1%for the methyl orange(MO)solution,this value far exceeded those of pure CF,AgBr/CF composites,and Ag_(3)PO_(4)/CF ***,the AgBr/Ag_(3)PO_(4)/CF composites also shown excellent durability,after the fifth cycle,they still maintained a decolorization rate of 86.4%for the MO solution,while the Ag_(3)PO_(4)/CF composites maintained a decolorization rate of only 70.7%.Based on these results,we consider that the AgBr/Ag_(3)PO_(4)/CF composites have high practical interest in environmental remediation.

关键词： AgBr Ag_(3)PO_(4) Chitosan fiber Photocatalytic degradation

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数据整理脚本语义的可视化

计算机辅助设计与图形学学报 2024年第7期36卷 1096-1105页

作者：罗中粟熊凯傅四维王永恒鲍虎军巫英才浙江工业大学计算机科学与技术学院杭州310023 之江实验室杭州311121 浙江大学计算机辅助设计与图形系统全国重点实验室杭州310058

理解数据整理脚本的语义是数据工作者的常见需求.然而,数据整理操作的类型及其代码的实现方式复杂多样,使得数据工作者在理解脚本语义时费时费力.通过收集数据工作者在理解数据整理脚本语义上的具体需求,设计并实现了一个基于概览和细... 详细信息

理解数据整理脚本的语义是数据工作者的常见需求.然而,数据整理操作的类型及其代码的实现方式复杂多样,使得数据工作者在理解脚本语义时费时费力.通过收集数据工作者在理解数据整理脚本语义上的具体需求,设计并实现了一个基于概览和细节模式的交互式可视分析系统ChangeVis,帮助数据工作者理解表格在数据整理过程中的变化.ChangeVis包含概览视图,语义视图,统计视图和数据视图4个视图,分别可视化代码块中的表结构变化、行列信息变化、单元格数据变化以及执行的数据转换操作的语义.通过案例分析和用户实验,验证了ChangeVis系统在帮助数据工作者理解数据整理脚本语义的可用性和有效性.

关键词：数据整理程序可视化可视化设计表格数据可视化

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驾驶模拟器用于交通系统仿真的研究

系统仿真学报 2001年第S2期13卷 385-387页

作者：熊坚曾纪国管欣吉林大学汽车动态模拟国家重点实验室昆明理工大学交通学院昆明650051 昆明理工大学交通学院

简要介绍了汽车驾驶模拟器开发和应用的国内外现状,介绍了昆明理工大学开发的驾驶模拟器,提出了应用模拟器进行道路交通仿真研究的步骤和方法,以及模拟器在交通仿真方面的应用范围,并给出了应用实例。

关键词：交通系统仿真驾驶模拟器虚拟现实汽车动力学模型