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Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science China(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU XinJiang YI Jian WANG YuHui xu du State Key Laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 29.6 N and 36 N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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A synthesis of the Cretaceous wildfire record related to atmospheric oxygen levels?

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Journal of Palaeogeography 2024年第1期13卷 149-164页

作者： Da-Wei Lü Wen-xu du Zhi-Hui Zhang Yuan Gao Tian-Tian Wang Jin-Cheng xu Ao-Cong Zhang Cheng-Shan Wang Shandong Provincial Key Laboratory of Depositional Mineralization and Sedimentary Minerals College of Earth Sciences and EngineeringShandong University of Science and TechnologyQingdao 266590Shandong ProvinceChina School of Earth Sciences and Resources China University of GeosciencesBejing 100083China Institute of Earth Sciences China University of Geosciences(Bejing)Beijing 100083China

The Cretaceous was a significant greenhouse period in Earth's history with higher atmospheric CO_(2) levels and temperatures than today. Although evidence of combustion has been widely described from the Cretaceous deposits, our understanding of the spatiotemporal diversification pattern and process of the Cretaceous wildfires is still limited. In this study, we comprehensively synthesize a total of 271 published Cretaceous wildfire occurrences based on the by-products of burning, including fossil charcoal, pyrogenic inertinite(fossil charcoal in coal), and pyrogenic polycyclic aromatic hydrocarbons(PAHs). Spatially, the dataset shows a distinctive distribution of reported wildfire evidence characterized by high concentration in the middle latitudinal areas of the Northern Hemisphere(30°N-60°N) over the Cretaceous. Temporally, an overall increasing trend of the reported wildfire data from the Early Cretaceous to the Late Cretaceous is coincident with higher atmospheric O_(2) levels. However, the spatial and temporal patterns may result from many types of factors, such as taphonomy, preservation, and researcher biases, instead of a real picture of the Cretaceous wildfire evolution. To better understand the spatiotemporal diversification of the Cretaceous wildfire, more investigations on the record of wildfire occurrences during this period would be necessary in the future.

关键词： Wildfire Cretaceous Atmospheric oxygen Taphonomy Charcoal

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The RFI Fast Mitigation Algorithm Based on Block LMS Filter

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Research in Astronomy and Astrophysics 2024年第1期24卷 265-272页

作者： Han Wu Hai-Long Zhang Ya-Zhou Zhang Jie Wang xu du Ting Zhang Xin-Chen Ye Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Radio Astronomy Chinese Academy of SciencesNanjing 210008China National Astronomical Data Center Beijing 100101China

The radio telescope possesses high sensitivity and strong signal collection *** receiving celestial radiation signals,it also captures Radio Frequency Interferences(RFIs)introduced by human ***,as signals originating from sources other than the astronomical targets,significantly impacts the quality of astronomical *** paper presents an RFI fast mitigation algorithm based on block Least Mean Square(LMS)*** enhances the traditional adaptive LMS filter by grouping L adjacent time-sampled points into one block and applying the same filter coefficients for filtering within each *** transformation reduces multiplication calculations and enhances algorithm efficiency by leveraging the time-domain convolution *** algorithm is tested using baseband data from the Parkes 64 m radio telescope's pulsar observations and simulated *** results confirm the algorithm's effectiveness,as the pulsar profile after RFI mitigation closely matches the original pulsar profile.

关键词： methods:data analysis techniques:interferometric (stars:)pulsars:individual(J0437-4715)

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PSRDP:A Parallel Processing Method for Pulsar Baseband Data

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Research in Astronomy and Astrophysics 2024年第1期24卷 300-310页

作者： Ya-Zhou Zhang Hai-Long Zhang Jie Wang Xin-Chen Ye Shuang-Qiang Wang xu du Han Wu Ting Zhang Shao-Cong Guo Meng Zhang Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Radio Astronomy Chinese Academy of SciencesNanjing 210008China National Astronomical Data Center Beijing 100101China Southeast University Nanjing 211189China School of Cyber Science and Engineering Qufu Normal UniversityQufu 273165China

To address the problem of real-time processing of ultra-wide bandwidth pulsar baseband data,we designed and implemented a pulsar baseband data processing algorithm(PSRDP)based on GPU parallel computing *** can perform operations such as baseband data unpacking,channel separation,coherent dedispersion,Stokes detection,phase and folding period prediction,and folding integration in GPU *** tested the algorithm using the J0437-4715 pulsar baseband data generated by the CASPSR and Medusa backends of the Parkes,and the J0332+5434 pulsar baseband data generated by the self-developed backend of the Nan Shan Radio *** obtained the pulse profiles of each baseband *** experimental analysis,we have found that the pulse profiles generated by the PSRDP algorithm in this paper are essentially consistent with the processing results of Digital Signal Processing Software for Pulsar Astronomy(DSPSR),which verified the effectiveness of the PSRDP ***,using the same baseband data,we compared the processing speed of PSRDP with DSPSR,and the results showed that PSRDP was not slower than DSPSR in terms of *** theoretical and technical experience gained from the PSRDP algorithm research in this article lays a technical foundation for the real-time processing of QTT(Qi Tai radio Telescope)ultra-wide bandwidth pulsar baseband data.

关键词： (stars:)pulsars:general methods:data analysis techniques:miscellaneous

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A Cross-matching Service for Data Center of Xinjiang Astronomical Observatory

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Research in Astronomy and Astrophysics 2024年第1期24卷 119-127页

作者： Hai-Long Zhang Jie Wang Xin-Chen Ye Wan-Qiong Wang Jia Li Ya-Zhou Zhang xu du Han Wu Ting Zhang Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China Key Laboratory of Radio Astronomy Chinese Academy of SciencesNanjing 210008China National Astronomical Data Center Beijing 100101China University of Chinese Academy of Sciences Beijing 100049China

Cross-matching is a key technique to achieve fusion of multi-band astronomical catalogs. due to different equipment such as various astronomical telescopes, the existence of measurement errors, and proper motions of the celestial bodies, the same celestial object will have different positions in different catalogs, making it difficult to integrate multi-band or full-band astronomical data. In this study, we propose an online cross-matching method based on pseudo-spherical indexing techniques and develop a service combining with high performance computing system(Taurus) to improve cross-matching efficiency, which is designed for the Data Center of Xinjiang Astronomical Observatory. Specifically, we use Quad Tree Cube to divide the spherical blocks of the celestial object and map the 2D space composed of R.A. and decl. to 1D space and achieve correspondence between real celestial objects and spherical patches. Finally, we verify the performance of the service using Gaia 3 and PPMXL catalogs. Meanwhile, we send the matching results to VO tools-Topcat and Aladin respectively to get visual results. The experimental results show that the service effectively solves the speed bottleneck problem of crossmatching caused by frequent I/O, and significantly improves the retrieval and matching speed of massive astronomical data.

关键词： virtual observatory tools astronomical databases:miscellaneous catalogs

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UWLPIPE: Ultra-wide Bandwidth Low-frequency Pulsar Data Processing Pipeline

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Research in Astronomy and Astrophysics 2024年第7期24卷 148-160页

作者： Ya-Zhou Zhang Hai-Long Zhang Jie Wang Jian Li Xin-Chen Ye Shuang-Qiang Wang xu du Han Wu Ting Zhang Shao-Cong Guo Xinjiang Astronomical Observatory Chinese Academy of Sciences University of Chinese Academy of Sciences Key Laboratory of Radio Astronomy Chinese Academy of Sciences National Astronomical Data Center Southeast University

For real-time processing of ultra-wide bandwidth low-frequency pulsar baseband data, we designed and implemented an ultra-wide bandwidth low-frequency pulsar data processing pipeline(UWLPIPE) based on the shared ringbuffer and GPU parallel technology. UWLPIPE runs on the GPU cluster and can simultaneously receive multiple 128 MHz dual-polarization VDIF data packets preprocessed by the front-end FPGA. After aligning the dual-polarization data, multiple 128M subband data are packaged into PSRDADA baseband data or multi-channel coherent dispersion filterbank data, and multiple subband filterbank data can be spliced into wideband data after time alignment. We used the Nanshan 26 m radio telescope with the L-band receiver at964 ～ 1732 MHz to observe multiple pulsars. Finally, we processed the data using DSPSR software, and the results showed that each subband could correctly fold out the pulse profile, and the wideband pulse profile accumulated by multiple subbands could be correctly aligned.

关键词： (stars:) pulsars: general methods: data analysis techniques: miscellaneous

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Review of artificial intelligence applications in astronomical data processing

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Astronomical Techniques and Instruments 2024年第1期1卷 1-15页

作者： Hailong Zhang Jie Wang Yazhou Zhang xu du Han Wu Ting Zhang Xinjiang Astronomical Observatory Chinese Academy of SciencesUrumqi 830011China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Radio Astronomy Chinese Academy of SciencesNanjing 210008China National Astronomical Data Center Beijing 100101China

Artificial Intelligence(AI)is an interdisciplinary research field with widespread *** aims at developing theoretical,methodological,technological,and applied systems that simulate,enhance,and assist human ***,notable accomplishments of artificial intelligence technology have been achieved in astronomical data processing,establishing this technology as central to numerous astronomical research areas such as radio astronomy,stellar and galactic(Milky Way)studies,exoplanets surveys,cosmology,and solar *** article systematically reviews representative applications of artificial intelligence technology to astronomical data processing,with comprehensive description of specific cases:pulsar candidate identification,fast radio burst detection,gravitational wave detection,spectral classification,and radio frequency interference ***,it discusses possible future applications to provide perspectives for astronomical research in the artificial intelligence era.

关键词： Astronomical techniques Astronomical methods Astroinformatics

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殷克敬傍刺天池穴治疗乳腺增生症临床经验

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中国针灸 2024年第2期44卷 185-187页

作者：童悦杜旭殷克敬陕西中医药大学针灸推拿学院咸阳712046 陕西中医药大学第二附属医院殷克敬工作室咸阳712046

总结殷克敬教授治疗乳腺增生症的临床经验。殷克敬教授认为乳腺增生症的病机主要为冲任失调、血瘀痰凝、肝郁气滞,治疗应以开宣气血、调整阴阳为原则,独创经络别通诊断法,提出傍刺天池穴配合中药外敷治疗乳腺增生症,特色鲜明。

关键词：乳腺增生症傍刺天池穴中药外敷名医经验殷克敬

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混凝土板柱结构地下车库设计方法的若干讨论

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结构工程师 2024年第2期40卷 211-217页

作者：杜旭上海同建强华建筑设计有限公司上海200072

针对混凝土板柱结构地下车库的若干设计方法展开讨论,目的是澄清规范释义、消除认识歧义和完善规范内容。讨论包括三方面:①建议在规范中增加直剪设计内容;②梳理了增强抗冲切承载力的四种措施,介绍了其特点和涉及的规范内容,初步分析... 详细信息

针对混凝土板柱结构地下车库的若干设计方法展开讨论,目的是澄清规范释义、消除认识歧义和完善规范内容。讨论包括三方面:①建议在规范中增加直剪设计内容;②梳理了增强抗冲切承载力的四种措施,介绍了其特点和涉及的规范内容,初步分析了它们设计表达式的安全裕度系数;③澄清地下室顶板作为上部结构嵌固部位的条件,以算例说明相关范围最小取地上结构投影范围是合理可行的。研究工作对在地下车库中科学合理地推广板柱结构具有积极作用。

关键词：地下车库板柱结构相关范围直剪冲切

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基于马尔科夫模型的双站激光微波混合链路性能分析

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电子学报 2024年第2期52卷 468-476页

作者：邵军虎杜旭晓庞健史魏征西安理工大学自动化与信息工程学院西安市无线光通信与网络研究重点实验室陕西西安710048 华侨大学厦门市移动多媒体通信重点实验室福建厦门361021

针对气象变化对自由空间光(Free Space Optical,FSO)通信链路和毫米波射频(Radio Frequency,RF)通信链路可用率的影响问题,采用马尔科夫建模与稳态概率求解计算方法,分析不同天气条件下FSO/RF混合链路的双接收站分集与中断概率性能.基于... 详细信息

针对气象变化对自由空间光(Free Space Optical,FSO)通信链路和毫米波射频(Radio Frequency,RF)通信链路可用率的影响问题,采用马尔科夫建模与稳态概率求解计算方法,分析不同天气条件下FSO/RF混合链路的双接收站分集与中断概率性能.基于FSO链路和RF链路的信道模型,采用有限状态马尔科夫链(Finite State Markov Chain,FSMC)分别对单双站FSO/RF混合链路的切换选择进行建模,推导得出不同参数和天气情况下系统稳态的中断概率表达式.数值计算结果表明,当中断概率达到10^(-6),雨雾天气链路距离为1~7 km时,双站FSO/RF混合链路相比单站可获得4~25 dB的增益.

关键词： FSO/RF混合链路多站分集马尔科夫模型中断概率误码率

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