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

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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Performance of a quantum heat engine cycle working with harmonic oscillator systems

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Science China(Physics,Mechanics & Astronomy) 2007年第2期50卷 163-176页

作者： WANG JianHui HE JiZhou mao zhiyuan Department of Physics Nanchang UniversityNanchang 330047China

A cycle model of an irreversible heat engine working with harmonic systems is established in this paper. Based on the equation of motion of an operator in the Heisenberg picture and semi-group approach, the first law of thermodynamics for a harmonic system and the time evolution of the system are obtained. The general expressions for several important parameters, such as the work, efficiency, power output, and rate of entropy production are derived. By means of numerical analysis, the optimally operating regions and the optimal values of performance parameters of the cycle are determined under the condition of maximum power output. At last, some special cases, such as high temperature limit and frictionless case, are dis-cussed in brief.

关键词： harmonic systems heat engine cycle irreversible thermodynamics performance optimization

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INTERNAL CHLORINATION OF Ni-Cr-Ce ALLOY EXPOSURE TO CHLORINE AT 575℃

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Transactions of Nonferrous Metals Society of China 1996年第1期6卷 106-109页

作者： Tu Jiangping Liu maoshen mao zhiyuan Li Zhizhang Department of Materials Science and Engineering Zhejiang University Hangzhou 310027

The kinetics of internal chlorination of Ni-Cr-Ce alloy in chlorine at 575℃ has been *** chlorination of Ni-Cr-Ce alloy occurred to formation of CrCl_(2) and CeCl_(3) solid precipi-tates which is thermodynamically stable and has lower vapor pressure at the temperature along grain *** initial corrosion stage,the internal chlorination rate nearly followed parabolic rate law,the internal chlorination was accompanied by the consumption of the alloy by volatilization corrosion which obeyed a linear rate equation,the thickness of the internal chlorination region would be governed by a paralinear rate *** a sufficiently long period of corrosion,the rate of internal chlorina-tion would be equal to the rate of overall metal consumption,the depth of internal chlorination approaches a steady state *** of Ce to Ni-Cr alloy increased the degree of internal chlorination.

关键词： internal chlorination vapor pressure chloride

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Tungsten oxide-anchored Ru clusters with electron-rich and anti-corrosive microenvironments for efficient and robust seawater splitting

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SusMat 2024年第1期4卷 106-115页

作者： Yiming Zhang Weiqiong Zheng Huijuan Wu Ran Zhu Yinghan Wang mao Wang Tian Ma Chong Cheng zhiyuan Zeng Shuang Li College of Polymer Science and Engineering State Key Laboratory of Polymer Materials EngineeringSichuan UniversityChengduChina Department of Chemical and Biomolecular Engineering National University of SingaporeSingaporeSingapore Department of Materials Science and Engineering and State Key Laboratory of Marine PollutionCity University of Hong KongKowloonHong KongChina Shenzhen Research Institute City University of Hong KongShenzhenChina

Ruthenium(Ru)has been recognized as a prospective candidate to substitute platinum catalysts in water-splitting-based hydrogen ***,minimizing the Ru contents,optimizing the water dissociation energy of Ru sites,and enhancing the long-term stability are extremely required,but still face a great ***,we report on creating tungsten oxide-anchored Ru clusters(Ru-WO_(x))with electron-rich and anti-corrosive microenvironments for efficient and robust seawater *** from the abundant oxygen vacancy structure in tungsten oxide support,the Ru-WO_(x)exhibits strong Ru-O and Ru-W bonds at the *** study elucidates that the strong Ru-O bonds in Ru-WO_(x)may accelerate the water dissociation kinetics,and the Ru-W bonds will lead to the strong metal-support interaction and electrons transfer fromWto *** optimal Ru-WO_(x)catalysts exhibit a low overpotential of 29 and 218mVat the current density of 10 mA cm^(−2) in alkaline and seawater media,*** outstanding long-term stability discloses that the Ru-WO_(x)catalysts own efficient corrosion resistance in seawater *** believe that thiswork offers new insights into the essential roles of electron-rich and anti-corrosivemicroenvironments in Ru-based catalysts and provide a new pathway to design efficient and robust cathodes for seawater splitting.

关键词： hydrogen production microenvironment modulation noble metal catalysts seawater splitting tungsten oxide

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基于水面校准和圆柱特征分割的水下桩基尺寸检测方法

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东南大学学报（自然科学版） 2022年第6期52卷 1071-1080页

作者：吉同元章定文毛志远徐孝彬李鹏飞东南大学交通学院南京211189 华设设计集团股份有限公司南京210014 河海大学机电工程学院常州213022

为了实现水下桩基尺寸测量和缺陷检测,设计了水下桩基声学可视化检测系统,提出了基于水面校准和圆柱特征分割的水下桩基尺寸检测方法.采用声呐系统获取水下桩基点云数据,利用正态分布变换(NDT)方法实现同一站点不同俯仰角下的配准,同时... 详细信息

为了实现水下桩基尺寸测量和缺陷检测,设计了水下桩基声学可视化检测系统,提出了基于水面校准和圆柱特征分割的水下桩基尺寸检测方法.采用声呐系统获取水下桩基点云数据,利用正态分布变换(NDT)方法实现同一站点不同俯仰角下的配准,同时结合声呐水面点云特征,利用随机抽样一致(RANSAC)方法实现水面拟合,并基于该水面进行校准,然后采用多种滤波算法滤除杂散点云.提出了圆柱特征分割,通过圆柱分割与拟合方法,实现桩基尺寸测量和缺陷检测.采集实际码头桩基点云进行实验验证.结果表明,相比欧式聚类算法和区域生长算法,系统能有效分割出多个圆柱体目标,缩径实验中拟合得到的桩径与实测值误差为0.036 m,精度达97.6%;扩径实验中测量误差为0.052 m,精度达94.8%.所提检测方法能为水下桩基检测与分析提供技术支持.

关键词：声学可视化检测系统水面校准圆柱特征分割桩基尺寸测量

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HIGH TEMPERATURE CORROSION OF PREOXIDIZED Ni-Al ALLOY IN CHLORINE

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中国有色金属学会会刊：英文版 1994年第2期4卷 74-76,81页

作者： Tu,Jiangping Li,Zhizhang mao, zhiyuan(Deoartment of Materials Science and Engineering,Zhejiang University,Hang zhou 310027)

ＨＩＧＨＴＥＭＰＥＲＡＴＵＲＥＣＯＲＲＯＳＩＯＮＯＦＰＲＥＯＸＩＤＩＺＥＤＮｉ－ＡｌＡＬＬＯＹＩＮＣＨＬＯＲＩＮＥＨＩＧＨＴＥＭＰＥＲＡＴＵＲＥＣＯＲＲＯＳＩＯＮＯＦＰＲＥＯＸＩＤＩＺＥＤＮｉ－ＡｌＡＬＬＯＹＩＮＣＨ... 详细信息

ＨＩＧＨＴＥＭＰＥＲＡＴＵＲＥＣＯＲＲＯＳＩＯＮＯＦＰＲＥＯＸＩＤＩＺＥＤＮｉ－ＡｌＡＬＬＯＹＩＮＣＨＬＯＲＩＮＥＨＩＧＨＴＥＭＰＥＲＡＴＵＲＥＣＯＲＲＯＳＩＯＮＯＦＰＲＥＯＸＩＤＩＺＥＤＮｉ－ＡｌＡＬＬＯＹＩＮＣＨＬＯＲＩＮＥ￥Ｔｕ，Ｊｉａｎｇｐｉ...

关键词： chlorination oxide scale chloride vapor pressure preoxidization

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Comparative transcriptome analysis between rhesus macaques(Macaca mulatta) and crab-eating macaques(M. fascicularis)

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Zoological Research 2024年第2期45卷 299-310页

作者： Yu-Xiang mao Yamei Li Zikun Yang Ning Xu Shilong Zhang Xuankai Wang Xiangyu Yang Qiang Sun Yafei mao Institute of Neuroscience State Key Laboratory of NeuroscienceCenter for Excellence in Brain Science&Intelligence TechnologyChinese Academy of SciencesShanghai 200031China Shanghai Center for Brain Science and Brain-Inspired Intelligence Technology Shanghai 201210China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Genetic Evolution&Animal Models Chinese Academy of SciencesKunmingYunnan 650201China Bio-X Institutes Key Laboratory for the Genetics of Developmental and Neuropsychiatric DisordersMinistry of EducationShanghai Jiao Tong UniversityShanghai 200030China zhiyuan College Shanghai Jiao Tong UniversityShanghai 200240China Center for Genomic Research International Institutes of MedicineFourth Affiliated HospitalZhejiang UniversityYiwuZhejiang 322000China

Understanding gene expression variations between species is pivotal for deciphering the evolutionary diversity in phenotypes. Rhesus macaques(Macaca mulatta, MMU)and crab-eating macaques(M. fascicularis, MFA) serve as crucial nonhuman primate biomedical models with different phenotypes. To date, however, large-scale comparative transcriptome research between these two species has not yet been fully explored. Here, we conducted systematic comparisons utilizing newly sequenced RNA-seq data from84 samples(41 MFA samples and 43 MMU samples)encompassing 14 common tissues. Our findings revealed a small fraction of genes(3.7%) with differential expression between the two species, as well as 36.5% of genes with tissue-specific expression in both macaques. Comparison of gene expression between macaques and humans indicated that 22.6% of orthologous genes displayed differential expression in at least two tissues. Moreover,19.41% of genes that overlapped with macaque-specific structural variants showed differential expression between humans and macaques. Of these, the FAM220A gene exhibited elevated expression in humans compared to macaques due to lineage-specific duplication. In summary,this study presents a large-scale transcriptomic comparison between MMU and MFA and between macaques and humans. The discovery of gene expression variations not only enhances the biomedical utility of macaque models but also contributes to the wider field of primate genomics.

关键词： Crab-eating macaques Rhesus macaques Comparative transcriptomics Biomedical models Nonhuman primates RNA-seq Duplicated genes

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CHLORINATION OF Ni-Cr ALLOYS IN Cl_2 ENVIRONMENT AT 575℃

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中国有色金属学会会刊：英文版 1994年第1期4卷 66-69页

作者： Tu,Jiangping mao,zhiyuan Li,Zhizhang(Department of Materials Science and Engineering,Zhejiang University,Hangzou 310027 ,china)

ＣｆｌＬＯＲＩＮＡＴＩＯＮＯＦＮｉ－ＣｒＡＬＬＯＹＳＩＮＣｌ２ＥＩＪＶＩＲＯＮＭＥＮＴＡＴ５７５℃Ｔｕ，Ｊｉａｎｇｐｉｎｇ；Ｍａｏ，Ｚｈｉｙｕａｎ；Ｌｉ，Ｚｈｉｚｈａｎｇ（ＤｅｐａｒｔｍｅｎｔｏｆＭａｔｅｒｉａｌｓＳ... 详细信息

ＣｆｌＬＯＲＩＮＡＴＩＯＮＯＦＮｉ－ＣｒＡＬＬＯＹＳＩＮＣｌ２ＥＩＪＶＩＲＯＮＭＥＮＴＡＴ５７５℃Ｔｕ，Ｊｉａｎｇｐｉｎｇ；Ｍａｏ，Ｚｈｉｙｕａｎ；Ｌｉ，Ｚｈｉｚｈａｎｇ（ＤｅｐａｒｔｍｅｎｔｏｆＭａｔｅｒｉａｌｓＳｃｉｅｎｃｅａｎｄＥｎｇｉｎｅｅｒ...

关键词： : chlorination chloride reaction preduct scale vapor pressure

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深层渗硼渗层的冲蚀磨损

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金属热处理 1989年第4期14卷 33-38页

作者：章磊毛志远石福占浙江大学材料系安徽机械科学研究所

本文通过对深层渗硼渗层以及一些对比材料的冲蚀磨损实验,研究了渗硼层的冲蚀磨损性能及其机制。结果表明:渗硼层对于硬度比它低的磨粒(H_p/H_m≤1)具有优良的抗冲蚀磨损性能;但当H_p/H_m>1后,磨损率随磨粒硬度升高而迅速增大。渗硼层... 详细信息

本文通过对深层渗硼渗层以及一些对比材料的冲蚀磨损实验,研究了渗硼层的冲蚀磨损性能及其机制。结果表明:渗硼层对于硬度比它低的磨粒(H_p/H_m≤1)具有优良的抗冲蚀磨损性能;但当H_p/H_m>1后,磨损率随磨粒硬度升高而迅速增大。渗硼层具有脆性材料的冲蚀磨损特征,即最大冲蚀磨损率发生在高冲击角处。在硬磨粒(Al_2O_3、SiC)冲蚀下,渗硼层冲蚀磨损主要是通过赫兹裂纹环扩展以及块状磨屑的脱落而引起的,低角冲击时也存在着犁沟机制。硬磨粒冲击还能导致表面局部熔化。在软磨粒冲击下,要经过多次冲击才能使小片磨屑脱落.SlO_2粒子冲击时,可使表面龟裂,但它不是冲蚀磨损的主要原因。

关键词：渗硼层冲蚀磨损磨损试验

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养老住房政策体系演进与多样化实施方法探究——以加拿大老年住房计划为例

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城市发展研究 2024年第4期031卷 74-81页

作者：张智源邓奕唐燕毛其智福州大学建筑与城乡规划学院清华大学建筑学院

目前全球老龄化日益严重，养老压力持续加大，在以美、日、芬三国为代表的世界各国总体呈现向居家养老发展的一致趋势下，分析得出加拿大的多样化养老经验对于我国最具可行性。宏观上分析加拿大自上而下的住房政策演进历程，其作为加拿... 详细信息

目前全球老龄化日益严重，养老压力持续加大，在以美、日、芬三国为代表的世界各国总体呈现向居家养老发展的一致趋势下，分析得出加拿大的多样化养老经验对于我国最具可行性。宏观上分析加拿大自上而下的住房政策演进历程，其作为加拿大福利制度的起源为后续进一步制定针对性的老年住房计划奠定了基础。老年住房计划中详细整理了针对加拿大全国13个省共18种多样化住房计划类型，总结出各省老年人住房政策方面共同的关注点，其多样化的本质是使政策实施更具针对性和人性化。微观上从申请者视角，以大不列颠哥伦比亚省为例检验了老年住房计划自下而上执行的可实施性。最终结合我国养老产业现状，得出加拿大养老住房政策对我国养老政策规划的启示。

关键词：养老住房政策体系老年住房计划个人申请自下而上加拿大

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