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Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

Chinese Journal of Mechanical Engineering 2018年第4期31卷 58-72页

作者： Zhen liu Hong-Chao Zhuang hai-Bo Gao Zong-Quan Deng liang Ding State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechanical Engineering Tianjin University of Technology and Education

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

关键词： Electrically driven Heavy-duty six-legged robot Tripod gait Force of foot Walking mode

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Ammonia pyrolysis oxidation excited by nanosecond pulsed discharge:Global/fluid models hybrid solution

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Journal of Energy Chemistry 2025年第1期100卷 385-396页

作者： Mingming Zhang Hanyu Wu Qi Chen Jiaxin Yang Bonan liu School of Mechanical Electronic and Control Engineering Beijing Jiaotong University China University of Petroleum

The kinetic characteristics of plasma-assisted oxidative pyrolysis of ammonia are studied by using the global/fluid models hybrid solution ***,the stable products of plasma-assisted oxidative pyrolysis of ammonia are *** results show that the consumption of NH3/O2and the production of N2/H2change linearly with the increase of voltage,which indicates the decoupling of nonequilibrium molecular excitation and oxidative pyrolysis of ammonia at low ***,the detailed reaction kinetics mechanism of ammonia oxidative pyrolysis stimulated by a nanosecond pulse voltage at low pressure and room temperature is *** on the reaction path analysis,the simplified mechanism is *** detailed and simplified mechanism simulation results are compared with experimental data to verify the accuracy of the simplified ***,based on the simplified mechanism,the fluid model of ammonia oxidative pyrolysis stimulated by the nanosecond pulse plasma is established to study the pre-sheath/sheath behavior and the resultant consumption and formation of key *** results show that the generation,development,and propagation of the pre-sheath have a great influence on the formation and consumption of *** consumption of NH3by the cathode pre-sheath is greater than that by the anode pre-sheath,but the opposite is true for OH and O（1S）.However,within the sheath,almost all reactions do not ***,by changing the parameters of nanosecond pulse power supply voltage,it is found that the electron number density,electron current density,and applied peak voltages are not the direct reasons for the structural changes of the sheath and ***,the discharge interval has little effect on the sheath structure and gas mixture *** research results of this paper not only help to understand the kinetic promotion of non-equilibrium excitation in the process of oxidative pyrolysis but also help to explore th

关键词： Nanosecond pulsed discharge Ammonia Oxidative pyrolysis Fluid model Global model

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Micro-strain regulation strategy to stabilize perovskite lattice based on the categories and impact of strain on perovskite solar cells

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Journal of Energy Chemistry 2025年第1期100卷 578-604页

作者： Caixia Li Wenwu liu Shiji Da Lingbin Kong Fen Ran State Key Laboratory of Advanced Processing and Recycling of Nonferrous Metals Lanzhou University of Technology School of Materials Science and Engineering Lanzhou University of Technology

Photovoltaic metal halide perovskite solar cells(PSCs) convert light to electricity more efficiently than crystalline silicon cells, and the cost of materials used to make them is lower than that of silicon *** efficiency is not a core issue affecting the application of perovskite solar cells in special *** present, stability is the major technical encounters that hinders its further commercial development. Microstrain in PSCs is currently a significant factor responsible for the device's instability. Strain-induced ion migration is widely believed to accelerate perovskite degradation even when external stimuli are ***, it is imperative to study strain to enhance the stability of PSCs. This paper reviews recent developments to understand strain's origin and effect mechanisms on performance of PSCs, including ion migration,failure behavior, defect formation, and its effect on photoelectric properties, stability, and ***, several well-known strain management strategies are systematically introduced based on the strain effect mechanism and strain engineering on the film, providing more clues for further preparation with increased stability. The manipulation of external physical strain applied from films to entire devices has been extensively studied. Furthermore, recommendations for future research directions and chemical approaches have been provided. It is emphasized that strain engineering plays a crucial role in improving the efficiency and longevity of PSCs. Tensile strain causes rapid degradation, while moderate compressive strain and external strain control could improve properties and stability. Efforts should focus on controlling compressive strain to mitigate residual tensile strain and introducing it in a controlled manner. Future research endeavors may focus on exploring these pathways to improve the efficiency and lifespan of PSCs.

关键词： Halide perovskite solar cells Strain origins Strain effects Strain management

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Active Components Formulation Developed from Fuzheng Huayu Recipe for Anti-Liver Fibrosis

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Chinese Journal of Integrative Medicine 2022年第6期28卷 538-544页

作者： SUN Xin TAN Ye LYU Jing liu Hong-liang ZHAO Zhi-min liu Cheng-hai Institute of Liver Diseases Shuguang Hospital Affiliated to Shanghai University of Traditional Chinese MedicineShanghai201203China Shanghai Key Laboratory of Traditional Chinese Clinical Medicine Shanghai201203China

Objective:To screen the active components from Fuzheng Huayu Recipe(FZHY)and redesign a new recipe composed of the active components,and validate the effect of active components formulation from FZHY against liver ***:Thirty-two components from FZHY were evaluated for their activities against liver fibrosis respectively,with 6 kinds of cell models in vitro,including oxidative stressed hepatocyte in L-02,hypoxia injured/proliferative hepatic sinusoidal endothelial cells in SK-HEP-1 and human hepatic sinusoidal endothelial cells(HHSEC),and activated hepatic stellate cell in *** comprehensive activity of each component against liver fibrosis was scored according to the role of original herbs in FZHY and cell functions in *** 7 active components were selected and combined with equal proportion to form a novel active components formulation(ACF).The efficacy of ACF on liver fibrosis were evaluated on activation of LX-2 and proliferation of HHSEC in vitro and in liver fibrosis model mice induced by dimethylnitrosamine(DMN).Totally 72 mice were divided into6 groups using a random number table,including normal,high-dose ACF control(20μmol/L×7 components/kg body weight),model,low-,medium-,high-dose ACF groups(5,10,20μmol/L×7 components/kg body weight,respectively).Hematoxylin eosin and Sirius red stainings were used to observe inflammation and fibrosis change of liver tissue;scanning electron microscopy(SEM)and transmission electron microscopy(TEM)were utilized to observe the effect of ACF on ultrastructure of hepatic ***:Fifteen components from FZHY showed higher scores for their activity on against liver *** them,7 components including tanshinoneⅡA,salvianolic acid B,cordycepin,amygdalin,quercetin,protopanaxatriol,and schizandrin B were recombined with equal proportions to form *** at 1,2,4μmol/L showed strong inhibitory effects on activation of LX-2 and proliferation of HHSEC in vitro(all P<0.01).Compared with

关键词： active components formulation Fuzheng Huayu Recipe Chinese medicine liver fibrosis hepatic stellate cells hepatic sinusoidal capillarization

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Stereoelectronic Control of Cleavage of Dioxolane Five-membered Ring on Carbohydrates

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Chemical Research in Chinese Universities 2013年第3期29卷 551-555页

作者： PAN Xiao-liang ZHOU Yi-xuan liu Wei liu Jing-yao DONG hai State Key Laboratory of Theoretical and Computational Chemistry Institute of Theoretical Chemistry Jilin University Changchun 130021 P. R. China School of Chemistry and Chemical Engineering Huazhong University of Science and Technology Wuhan 430074 P. R. China

A mechanism about the origin of the selectivities for the cleavage of dioxolane five-membered rings on pyranoside rings was suggested. Quantum chemical studies were performed to testify the rationality of the mechanism. It is thus suggested that the selectivities should be dependent on the differences of the free energy at the transition states when the five-membered ring cleaves. Natural bond orbital（NBO） analysis was further made to assess the influence of stereoelectronic effects on the selectivities.

关键词： Stereoelectronic effect Carbohydrate Antiperiplanar lone-pair hypothesis

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Orbitronics for energy-efficient magnetization switching

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Science China(Information Sciences) 2025年第1期 398-399页

作者： Yuxuan YAO Daoqian ZHU Qingtao XIA Jianing liang Yuhao JIANG Zhiyang PENG Jiaxu LI Chen XIAO Renyou XU Wenwen WANG Xiantao SHANG Shiyang LU Dapeng ZHU Hong-Xi liu Kaihua CAO Weisheng ZHAO Fert Beijing Institute School of Integrated Circuit Science and Engineering Beihang University National Key Lab of Spintronics Institute of International Innovation Beihang University Qingdao Research Institute Beihang University Truth Memory Corporation

Spin-orbit torque （SOT）,as a promising writing method for magnetic random-access memory （MRAM）,has garnered widespread interest for over a decade [1].Heavy metals,such as β-W,have been broadly adopted as spin current sources,but suffer from phase change at a limited thickness,resulting in a dramatic reduction of the charge-tospin conversion efficiency θSH[2].The thickness limitation leads to stringent etching conditions and large distribution among devices,posing challenges for simultaneously satisfying SOT efficiency,etching-stop margins,and back-end-ofline （BEOL） compatibility.

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Hydrogen Production Using ‘‘Direct-Starting” Biocathode Microbial Electrolysis Cell and the Analysis of Microbial Communities

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Acta Metallurgica Sinica(English Letters) 2019年第3期32卷 297-304页

作者： Hong-Yan Dai Hui-Min Yang Xian liu Xiu-Li Song Zhen-hai liang Department of Municipal and Environmental Engineering Taiyuan College College of Chemistry and Chemical Engineering Taiyuan University of Technology Department of Chemistry Taiyuan Normal University

In this study, a ‘‘direct-starting'' procedure was used to activate a single-chamber biocathode microbial electrolysis cell(MEC) and the development of a biocathode was studied through output current curves and cyclic voltammograms. It only took 163 h for a successful start-up, and a current density of 14.75 A/m^2 was obtained. In the formal hydrogen-production stage, it was found that the biocathode MEC was comparable with the Pt/C cathode MEC in terms of current density and energy efficiency, and the hydrogen recovery, cathodic hydrogen recovery, and hydrogen production rate of the biocathode MEC were 71.22% ± 8.98%, 79.42% ± 5.94%, and 0.428 ± 0.054 m^3 H_2/m^3 days, respectively, which were slightly higher than those obtained with the Pt/C cathode MEC. Besides, under the effect of applied voltage, the microbial populations in the anodophilic biofilm of MEC(MECan) and the cathodophilic biofilm of MEC(MECca) were less diverse than those of the original aerobic activated sludge(AAS) and the anodophilic biofilm of MEC(MECan). Furthermore, the microbial community structures evidently differed between MECan/MECca and AAS/MFC.

关键词： “Direct-starting” procedure Biocathode Hydrogen production Microbial community structures

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Sourcing the merits of 3D integrated air cathodes for highperformance Zn-air batteries by bubble pump consumption chronoamperometry

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Nano Research 2024年第8期17卷 6951-6959页

作者： Mengxuan Li Linfeng Yu hai liu Chuanyi Zhang Jiazhan Li liang Luo Xiaoming Sun State Key Laboratory of Chemical Resource Engineering Beijing University of Chemical TechnologyBeijing 100029China

Zn-air batteries(ZABs)as a potential energy conversion system suffer from low power density(typically≤200 mW·cm^(−2)).Recently,three-dimensional(3D)integrated air cathodes have demonstrated promising performance over traditional twodimensional(2D)plane ones,which is ascribed to enriched active sites and enhanced diffusion,but without experimental ***,we applied a bubble pump consumption chronoamperometry(BPCC)method to quantitatively identify the gas diffusion coefficient(D)and effective catalytic sites density(ρEC)of the integrated air cathodes for ***,the D andρEC values can instruct consequent optimization on the growth of Co embedded N-doped carbon nanotubes(CoNCNTs)on carbon fiber paper(CFP)and aerophilicity tuning,giving 4 times D and 1.3 timesρEC over the conventional 2D Pt/C-CFP *** a result,using the CoNCNTs with half-wave potential of merely 0.78 V ***(Pt/C:0.89 V ***),the superaerophilic CoNCNTs-CFP cathode-based ZABs exhibited a superior peak power density of 245 mW·cm^(−2) over traditional 2D Pt/C-CFP counterparts,breaking the threshold of 200 mW·cm^(−2).This work reveals the intrinsic feature of the 3D integrated air cathodes by yielding exact D andρEC values,and demonstrates the feasibility of BPCC method for the optimization of integrated electrodes,bypassing trial-and-error strategy.

关键词： Zn-air batteries three-dimensional(3D)integrated air cathodes superaerophilic gas diffusion coefficient effective catalytic sites density

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Direct reduction of iron ore by biomass char

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International Journal of Minerals,Metallurgy and Materials 2013年第6期20卷 514-521页

作者： hai-bin Zuo Zheng-wen Hu Jian-liang Zhang Jing Li Zheng-jian liu State Key Laboratory of Advenced Metallurgy University of Science and Technology Beijing School of Metallurgical and Ecological Engineering University of Science and Technology Beijing

By using thermogravimetric analysis the process and mechanism of iron ore reduced by biomass char were investigated and compared with those reduced by coal and coke. It is found that biomass char has a higher reactivity. The increase of carbon-to-oxygen mole ratio （C/O） can lead to the enhancement of reaction rate and reduction fraction, but cannot change the temperature and trend of each reaction. The reaction temperature of hematite reduced by biomass char is at least 100 K lower than that reduced by coal and coke, the maximum reaction rate is 1.57 times as high as that of coal, and the final reaction fraction is much higher. Model calculation indicates that the use of burden composed of biomass char and iron ore for blast furnaces can probably decrease the temperature of the thermal reserve zone and reduce the CO equilibrium concentration.

关键词： ironmaking biomass char hematite direct reduction process thermogravimetric analysis

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Online Condition Monitoring of Gripper Cylinder in TBM Based on EMD Method

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Chinese Journal of Mechanical Engineering 2017年第6期30卷 1325-1337页

作者： Lin Li Jian-Feng Tao hai-Dong Yu Yi-Xiang Huang Cheng-liang liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures Shanghai 200240 China

The gripper cylinder that provides braced force for Tunnel Boring Machine （TBM） might fail due to severe vibration when the TBM excavates in the tunnel. Early fault diagnosis of the gripper cylinder is important for the safety and efficiency of the whole tunneling project. In this paper, an online condition monitoring system based on the Empirical Mode Decomposition （EMD） method is estab- lished for fault diagnosis of the gripper cylinder while TBM is working. Firstly, the lumped mass parameter model of the gripper cylinder is established considering the influence of the variable stiffness at the rock interface, the equivalent stiffness of the oil, the seals, and the copper guide sleeve. The dynamic performance of the gripper cylinder is investigated to provide basis for its health condition evaluation. Then, the EMD method is applied to identify the characteristic frequencies of the gripper cylinder for fault diagnosis and a field test is used to verify the accuracy of the EMD method for detection of the characteristic frequencies. Furthermore, the contact stiff- ness at the interface between the barrel and the rod is calculated with Hertz theory and the relationship between the natural frequency and the stiffness varying with the health condition of the cylinder is simulated based on the dynamic model. The simulation shows that the character- istic frequencies decrease with the increasing clearance between the barrel and the rod, thus the defects could be indicated by monitoring the natural frequency. Finally, a health condition management system of the gripper cylin- der based on the vibration signal and the EMD method is established, which could ensure the safety of TBM.

关键词： Fault diagnosis - Empirical modedecomposition (EMD) Condition Monitoring - Grippercylinder TBM

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