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A Self-sensing TSA-actuated Anthropomorphic Robot Hand

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Journal of Bionic Engineering 2024年第3期21卷 1174-1190页

作者： Chanchan Xu Shuai Dong yifan Ma Jingwei Zhan Yucheng Wang Xiaojie Wang Institute of Intelligent Machines Hefei Institutes of Physical ScienceChinese Academy of SciencesHefei230031China CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Precision Machinery and Precision InstrumentationUniversity of Science and Technology of ChinaHefei230026China Institutes of Physical Science and Information Technology Anhui UniversityHefei230601China

This paper introduces a self-sensing anthropomorphic robot hand driven by Twisted String Actuators(TSAs).The use of TSAs provides several advantages such as muscle-like structures,high transmission ratios,large output forces,high efficiency,compactness,inherent compliance,and the ability to transmit power over ***,conventional sensors used in TSA-actuated robotic hands increase stiffness,mass,volume,and complexity,making feedback control *** address this issue,a novel self-sensing approach is proposed using strain-sensing string based on Conductive Polymer Composite(CPC).By measuring the resistance changes in the strain-sensing string,the bending angle of the robot hand's fingers can be estimated,enabling closed-loop control without external *** developed self-sensing anthropomorphic robot hand comprises a 3D-printed structure with five fingers,a palm,five self-sensing TSAs,and a 3D-printed *** studies validate the self-sensing properties of the TSA and the anthropomorphic robot ***,a real-time Virtual Reality(VR)monitoring system is implemented for visualizing and monitoring the robot hand's movements using its self-sensing *** research contributes valuable insights and advancements to the field of intelligent prosthetics and robotic end grippers.

关键词： Anthropomorphic robot hand Twisted string actuator Self-sensing Conductive polymer composite Virtual reality monitoring

Ballistic performance of additive manufacturing 316l stainless steel projectiles based on topology optimization method

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Defence Technology（防务技术） 2024年第5期35卷 1-17页

作者： Hao Xue Tao Wang Xinyu Cui yifan Wang Guangyan Huang State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing 100081China

Material and structure made by additive manufacturing(AM)have received much attention lately due to their flexibility and ability to customize complex *** study first implements multiple objective topology optimization simulations based on a projectile perforation model,and a new topologic projectile is *** two types of 316L stainless steel projectiles(the solid and the topology)are printed in a selective laser melt(SLM)machine to evaluate the penetration performance of the projectiles by the ballistic *** experiment results show that the dimensionless specific kinetic energy value of topologic projectiles is higher than that of solid projectiles,indicating the better penetration ability of the topologic ***,microscopic studies(scanning electron microscope and X-ray micro-CT)are performed on the remaining projectiles to investigate the failure mechanism of the internal structure of the topologic *** explicit dynamics simulation was also performed,and the failure locations of the residual topologic projectiles were in good agreement with the experimental results,which can better guide the design of new projectiles combining AM and topology optimization in the future.

关键词： Additive manufacturing Topology optimization Ballistic performance Projectile design

Insight into demand-driven preparation of single-atomic mediators for lithium–sulfur batteries

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Journal of Energy Chemistry 2024年第3期90卷 205-219,I0007页

作者： Miaoyu Lu yifan Ding Zaikun Xue Ziang Chen Yuhan Zou Jingyu Sun College of Energy Soochow Institute for Energy and Materials InnovationsKey Laboratory for Advanced Carbon Materials and Wearable Energy Technologies of Jiangsu ProvinceSoochow UniversitySuzhou 215006JiangsuChina Beijing Graphene Institute Beijing 100095China

Lithium-sulfur(Li-S) batteries have attracted considerable attention as one of the most appealing energy storage *** efforts have been devoted to tackling the tremendous challenges,mainly pertaining to the severe shuttle effect,sluggish redox kinetics and lithium dendritic ***-atomic mediators as promising candidates exhibit impressive performance in addressing these intractable *** research often utilizes a trial-and-error approach,proposing solutions to fabricate single-atomic materials with diversified ***,comprehensive review articles especially targeting demand-driven preparation are still in a nascent *** by these considerations,this review summarizes the design of single-atomic mediators based on the application case-studies in LiS batteries and other metal-sulfur *** preparation routes represented by chemical vapor deposition technology are introduced in a demand-oriented ***,future research directions are proposed to foster the advancement of single-atomic mediators in Li-S realm.

关键词： Single-atom catalyst Lithium–sulfur battery Chemical vapor deposition Demand-driven preparation

Automated identification of steel weld defects,a convolutional neural network improved machine learning approach

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Frontiers of Structural and Civil Engineering 2024年第2期18卷 294-308页

作者： Zhan SHU Ao WU Yuning SI Hanlin DONG Dejiang WANG yifan LI School of Mechanics and Engineering Science Shanghai UniversityShanghai 200444China School of Civil Engineering Shanghai Normal UniversityShanghai 201418China Shanghai PinlanData Technology Co. Ltd.Shanghai 200072China

This paper proposes a machine-learning-based methodology to automatically classify different types of steel weld defects,including lack of the fusion,porosity,slag inclusion,and the qualified(no defects)*** methodology solves the shortcomings of existing detection methods,such as expensive equipment,complicated operation and inability to detect internal *** study first collected percussed data from welded steel members with or without weld ***,three methods,the Mel frequency cepstral coefficients,short-time Fourier transform(STFT),and continuous wavelet transform were implemented and compared to explore the most appropriate features for classification of weld *** and convolutional neural network-enhanced algorithms were used to classify,the extracted ***,experiments were designed and performed to validate the proposed *** showed that STFT achieved higher accuracies(up to 96.63%on average)in the weld status *** convolutional neural network-enhanced support vector machine(SVM)outperformed six other algorithms with an average accuracy of 95.8%.In addition,random forest and SVM were efficient approaches with a balanced trade-off between the accuracies and the computational efforts.

关键词： steel weld machine learning convolutional neural network weld defect detection classification task percussion

Learning Scalable Task Assignment with Imperative-Priori Conflict Resolution in Multi-UAV Adversarial Swarm Defense Problem

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Journal of Systems Science & Complexity 2024年第1期37卷 369-388页

作者： ZHAO Zhixin CHEN Jie XIN Bin LI Li JIAO Keming ZHENG yifan School of Electronics and Information Engineering Tongji UniversityShanghai 201804China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201804China School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing 100081China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201804China.

The multi-UAV adversary swarm defense(MUASD)problem is to defend a static base against an adversary UAV swarm by a defensive UAV *** the problem into task assignment and low-level interception strategies is a widely used ***-based approaches for task assignment are a promising *** studies on learning-based methods generally assume decentralized decision-making architecture,which is not beneficial for conflict *** contrast,centralized decision-making architecture is beneficial for conflict resolution while it is often detrimental to *** achieve scalability and conflict resolution simultaneously,inspired by a self-attention-based task assignment method for sensor target coverage problem,a scalable centralized assignment method based on self-attention mechanism together with a defender-attacker pairwise observation preprocessing(DAP-SelfAtt)is ***,an imperative-priori conflict resolution(IPCR)mechanism is proposed to achieve conflict-free ***,the IPCR mechanism is parallelized to enable efficient *** validate the algorithm,a variant of proximal policy optimization algorithm(PPO)is employed for training in scenarios of various *** experimental results show that the proposed algorithm not only achieves conflict-free task assignment but also maintains scalability,and significantly improve the success rate of defense.

关键词： Conflict resolution reinforcement learning scalability task assignment.

Mechanism of interfacial effects in sodium-ion storage devices

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Nano Research 2024年第3期17卷 1313-1326页

作者： yifan Wei Lingxing Zan Huicong Xia Wenfu Yan Jia-Nan Zhang College of Materials Science and Engineering Zhengzhou UniversityZhengzhou 450001China Key Laboratory of Advanced Energy Catalytic and Functional Material Preparation of Zhengzhou City Zhengzhou 450001China Key Laboratory of Chemical Reaction Engineering of Shaanxi Province College of Chemistry&Chemical EngineeringYan’an UniversityYan’an 716000China State Key Laboratory of Inorganic Synthesis and Preparative Chemistry and College of Chemistry Jilin UniversityChangchun 130012China

Rechargeable sodium-ion batteries(SIBs)are considered as the next-generation secondary *** performance of SIB is determined by the behavior of its electrode surface and the electrode–electrolyte interface during charging and ***,the characteristics of these surfaces and interfaces should be analyzed to realize large-scale energy storage systems with high energy density and long-cycle *** various studies have investigated the properties of electrode materials,few studies have focused on the construction of stable and efficient SIB interfaces,and even fewer have explored the mechanisms of interfacial effects;however,the strategies of regulating interfacial effects are yet to be completely ***,the results obtained thus far are insufficient to draw systematic *** present study reviews the literature on the mechanism of interfacial effects in Na+storage *** interfaces in a sodium-ion storage device include a heterogeneous interface between electrode materials,a solid electrolyte interphase,and a cathode electrolyte *** interfacial effects during the intercalation,transformation,and alloy reactions and the resulting overall battery performance were theoretically *** this review,we aim to provide a theoretical basis for optimizing the structures of electrode surface and electrode–electrolyte interface to optimize the performance of *** addition,the challenges of investigating interfacial effects and several possible helpful methods and opportunities for studying the mechanisms of interfacial effects in SIBs will be presented.

关键词： sodium-ion storage interfacial effects solid electrolyte interphase cathode electrolyte interphase

BDPartNet: Feature Decoupling and Reconstruction Fusion Network for Infrared and Visible Image

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Computers, Materials & Continua 2024年第6期79卷 4621-4639页

作者： Xuejie Wang Jianxun Zhang Ye Tao Xiaoli Yuan yifan Guo Department of Computer Science and Engineering Chongqing University of TechnologyChongqing400054China Liangjiang Institute of Artificial Intelligence Chongqing University of TechnologyChongqing400054China

While single-modal visible light images or infrared images provide limited information,infrared light captures significant thermal radiation data,whereas visible light excels in presenting detailed texture ***-bining images obtained from both modalities allows for leveraging their respective strengths and mitigating individual limitations,resulting in high-quality images with enhanced contrast and rich texture *** capabilities hold promising applications in advanced visual tasks including target detection,instance segmentation,military surveillance,pedestrian detection,among *** paper introduces a novel approach,a dual-branch decomposition fusion network based on AutoEncoder(AE),which decomposes multi-modal features into intensity and texture information for enhanced *** contrast enhancement module(CEM)and texture detail enhancement module(DEM)are devised to process the decomposed images,followed by image fusion through the *** proposed loss function ensures effective retention of key information from the source images of both *** comparisons and generalization experiments demonstrate the superior performance of our network in preserving pixel intensity distribution and retaining texture *** the qualitative results,we can see the advantages of fusion details and local *** the quantitative experiments,entropy(EN),mutual information(MI),structural similarity(SSIM)and other results have improved and exceeded the SOTA(State of the Art)model as a whole.

关键词： Deep learning feature enhancement computer vision

Efficient optimization of electron transfer pathway by constructing phosphide/ceria interface boosts seawater hydrogen production

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Journal of Energy Chemistry 2024年第8期95卷 490-498,I0011页

作者： yifan Zhao Lingfeng Yang Youyu Long Min Xi Anran Chen Hua Zhang School of Materials and Energy Yunnan UniversityKunming 650091YunnanChina Electron Microscopy Centre of Yunnan University Yunnan UniversityKunming 650091YunnanChina

Developing efficient and durable hydrogen evolution reaction(HER)electrocatalysts is one of the most important issues for the commercialization of seawater electrolysis,but it remains ***,we report a CeO_(2)-CoP nanoneedle array catalyst loaded on Ti mesh(CeO_(2)-CoP/TM)with workfunction-induced directional charge transport *** CeO_(2)-CoP/TM catalyst showed superior HER catalytic activity and stability,with over potentials of 41 and 60 mV to attain 10 mA cm^(-2),in 1 M KOH and 1 M KOH+seawater electrolyte,*** results and theoretical calculations reveal that the work function drives the charge transfer from CeO_(2)to CoP,which effectively balances the electronic density of CoP and CeO_(2),optimizes the d-band center,and accelerates the water activation kinetics,thus enhancing the HER *** solar-driven water electrolysis device displays a high and stable solar-to-hydrogen conversion efficiency of 19.6%.This study offers a work function-induced directional charge transport strategy to design efficient and durable catalysts for hydrogen production.

关键词： Work function Heterostructure Charge transport Seawater splitting Solar-to-hydrogen

Engineering of geometrical configurations in dual-atom catalysts for electrocatalytic applications

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Journal of Energy Chemistry 2024年第7期94卷 273-287页

作者： Tao Zhang yifan Liu Liang Xue Jingwen Sun Pan Xiong Junwu Zhu Key Laboratory for Soft Chemistry and Functional Materials of Ministry Education School of Chemistry and Chemical EngineeringNanjing University of Science and TechnologyNanjing210094JiangsuChina

Geometrical configurations play a crucial role in dual-atom catalysts(DACs)for electrocatalytic *** progress has been made to design DACs electrocatalysts with various geometri-cal configurations,but in-depth understanding the relationship between geometrical configurations and metal-metal interaction mechanisms for designing targeted DACs is still *** this review,the recent progress in engineering of geometrical configurations of DACs is systematically *** on the polarity of geometrical configuration,DACs can be classified into two different types that are homonuclear and heteronuclear ***,with regard to the geometrical configurations of the active sites,homonuclear DACs are identified into adjacent and bridged configurations,and heteronuclear DACs can be classified into adjacent,bridged,and separated ***,metal-metal interactions in DACs with different geometrical configurations are ***,the applications of DACs in different electrocatalytic reactions are discussed,including the oxygen reduction reaction(ORR),oxygen evolution reaction(OER),hydrogen evolution reaction(HER),and other ***,the future challenges and perspectives for advancements in DACs are *** review aims to provide inspiration for the design of highly effcient DACs towards energy relatedapplications.

关键词： Dual-atom catalysts Geometrical configurations Homonuclear Heteronuclear Electrocatalysis