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Shape estimation for a TPU-based multi-material 3D printed soft pneumatic actuator using deep learning models

Science China(Technological Sciences) 2024年第5期67卷 1470-1481页

作者： HU yu TANG Wei QU Yang XU HuXiu kramarenko yu.elena ZOU Jun State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310058China School of Mechanical engineering Zhejiang UniversityHangzhou310027China Institute of Process equipment College of Energy EngineeringZhejiang UniversityHangzhou310027China Faculty of Physics Lomonosov Moscow State UniversityMoscow119991Russia enikolopov Institute of Synthetic Polymeric Materials of Russian Academy of Sciences Moscow117393Russia

Real-time proprioception presents a significant challenge for soft robots due to their infinite degrees of freedom and intrinsic *** studies mostly focused on specific sensors and *** is still a lack of generalizable technologies for integrating soft sensing elements into soft actuators and mapping sensor signals to proprioception *** tackle this problem,we employed multi-material 3D printing technology to fabricate sensorized soft-bending actuators(SBAs)using plain and conductive thermoplastic polyurethane(TPU)*** designed various geometric shapes for the sensors and investigated their strain-resistive performance during *** address the nonlinear time-variant behavior of the sensors during dynamic modeling,we adopted a data-driven approach using different deep neural networks to learn the relationship between sensor signals and system states.A series of experiments in various actuation scenarios were conducted,and the results demonstrated the effectiveness of this *** sensing and shape prediction steps can run in real-time at a frequency of50 Hz on a consumer-level ***,a method is proposed to enhance the robustness of the learning models using data augmentation to handle unexpected sensor *** the methods are efficient,not only for in-plane 2D shape estimation but also for out-of-plane 3D shape *** aim of this study is to introduce a methodology for the proprioception of soft pneumatic actuators,including manufacturing and sensing modeling,that can be generalized to other soft robots.

关键词： shape estimation soft sensors and actuators 3D printing deep learning in robotics

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Technology of Magnetically Controlled elastomer

Technology of Magnetically Controlled Elastomer

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2011 World Congress on engineering and Technology(CeT 2011)

作者： Stepanov G.V. Storozhenko P.A kramarenko e yu State Scientific Research Institute of Chemistry and Technology of Organoelement Compounds (GNIIChTeOC) Physics Department Moscow State University

Features of obtaining high-quality samples of magnetically controlled elastomers (MCe) (magnetorheological elastomers) are described in this *** technological stages and implementation specialties of these stages and for manufacturing high –quality material are *** are promising materials for construction of active dampers for *** constructions with MCe find application in robotics.

关键词： magnetocontrol elastomer magnetoactive elastomer magnetorheological (MR) elastomer ferrogel

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Chirality enables thermal magnon transistors

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Science China(Physics,Mechanics & Astronomy) 2024年第4期67卷 161-166页

作者： Tao yu Chengyuan Cai Gerrit e.W.Bauer School of Physics Huazhong University of Science and TechnologyWuhan 430074China .WPI-AIMR and Institute for Materials Research and SCIS Tohoku UniversitySendai 980-8577Japan Kavli Institute for Theoretical Sciences University of Chinese Academy of SciencesBeijing 100190China

We report a theory of thermal spin pumping into proximity magnets under a transverse-bias-driven heat flow of magnons in magnetic films when the dipolar coupling to the magnetic gate is tuned to be “chiral”. While there is no rectification of the magnon current in the film, we predict that chirality diverts a large percentage(50% for perfect chirality) of it into the gate. This transverse thermal spin pumping effect can be controlled by rotating the film magnetization and may help manage the heat flow in future magnonic circuits.

关键词： magnon chirality quantum transport transistor

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Jigsaw-Sketch: a fast and accurate algorithm for finding top-k elephant flows in high-speed networks

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Science China(Information Sciences) 2024年第4期67卷 113-130页

作者： Boyu ZHANG He HUANG yu-e SUN Yang DU Dan WANG School of Computer Science and Technology Soochow University School of Rail Transportation Soochow University

Finding top-k elephant flows in high-speed networks is one of the most fundamental network measurement tasks. It is more challenging than per-flow size estimation since the IDs and sizes of top-k flows must be tracked simultaneously. Most existing studies only record the IDs of a small number of elephant flows to fit their estimators in the extremely limited high-speed on-chip memory. However, these solutions need too many memory accesses when a packet arrives to track the elephant flows with high accuracy, which limits their practicability. Therefore, this paper proposes Jigsaw-Sketch, a new algorithm to find the top-k elephant flows with much fewer memory accesses while achieving high memory efficiency and accuracy. In this design, we propose a novel two-stage jigsaw storage scheme, which can capture the candidate top-k flows from massive network steams efficiently, and further find the top-k elephant flows with high memory efficiency and only a few memory accesses for each packet. extensive experimental results based on real network traces show that Jigsaw-Sketch improves the packet processing throughput by at least 86%, while achieving smaller memory footprints and higher accuracy compared to the SOTA.

关键词： sketch top-$k$ network measurement elephant flow high-speed networks

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Cavitation research with computational fluid dynamics:From euler-euler to euler-Lagrange approach

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Journal of Hydrodynamics 2024年第1期36卷 1-23页

作者： Bin Ji Zi-yang Wang Huai-yu Cheng Rickard e.Bensow State Key Laboratory of Water Resources engineering and Management Wuhan UniversityWuhan430072China Department of Mechanics and Maritime Sciences Chalmers University of TechnologyGothenburgSweden

Unsteady cavitating flow often contains vapor structures with a wide range of different length scales,from micro-bubbles to large cavities,which issues a big challenge to precisely investigate its evolution mechanism by computational fluid dynamics(CFD)*** present work reviews the development of simulation methods for cavitation,especially the emerging euler-Lagrange ***,the progress of the numerical investigation of hot and vital issues is discussed,including cavitation inception,cloud cavitation inner structure and its formation mechanism,cavitation erosion,and cavitation *** is indicated that the euler-Lagrange method can determine cavitation inception point *** cloud cavitation,the euler-Lagrange method can reveal the source of microbubbles and their distribution law inside the shedding *** method also has advantages and great potential in assessing cloud cavitation-induced erosion and *** the ever-growing demands of cavitation simulation accuracy in basic research and engineering applications,how to improve the euler-Lagrange method’s stability and applicability is still an open *** further promote the application of this advanced CFD simulation technology in cavitation research,some key issues are to be solved and feasible suggestions are put forward for further work.

关键词： numerical simulation euler-euler method euler-Lagrange method bubble dynamicsgy,Gothenburg,Sweden

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Approximate Synchronization of Multi-Agent Systems over Finite Fields

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Journal of Systems Science & Complexity 2024年第4期37卷 1561-1580页

作者： yu Miao FeNG Jun-e XIA Jianwei FU Shihua SHeN Hao School of Mathematical Sciences Liaocheng UniversityLiaocheng 252059China School of Mathematics Shandong UniversityJinan 250100China School of electrical and Information engineering Anhui University of TechnologyMaanshan 243002China

In this paper,the approximate synchronization of leader-follower multiagent systems(MASs) over finite fields is studied in regard to local and global ***,the approximately synchronous state set(ASSS) is ***,combined with ASSS and transient periods,some criteria for the local and global approximate synchronization of systems are ***,the algorithms for calculating the maximum approximately synchronous basin(MASB) and the maximum control invariant set(MCIS) are ***,the global approximate synchronization of the system is achieved by designing the state feedback control,and a design algorithm of the controller using the truth matrix method is ***,the results of approximate synchronization are degenerated to complete ***,two examples are shown to demonstrate the results of this paper.

关键词： Approximate synchronization finite field multiagent system semi-tensor product state feedback control

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Phase separation of S-RNase promotes self-incompatibility in Petunia hybrida

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Journal of Integrative Plant Biology 2024年第5期66卷 986-1006页

作者： Huayang Tian Hongkui Zhang Huaqiu Huang yu'e Zhang Yongbiao Xue The State Key Laboratory of Plant Cell and Chromosome engineering Institute of Genetics and Developmental Biologythe Chinese Academy of SciencesBeijing 100101China University of the Chinese Academy of Sciences Beijing 100049China Beiing Institute of Genomics Chinese Academy of SciencesNational Center for BioinformationBeijing 100101China

Self-incompatibility(SI)is an intraspecific reproductive barrier widely present in *** SI system with the broadest occurrence in angiosperms is based on an S-RNase linked to a cluster of multiple S-locus F-box(SLF)genes found in the Solanaceae,Plantaginaceae,Rosaceae,and *** studies reveal that non-self S-RNase is degraded by the Skip Cullin F-box(SCF)SLF-mediated ubiquitin–proteasome system in a collaborative manner in Petunia,but how self-RNase functions largely remains ***,we show that S-RNases form S-RNase condensates(SRCs)in the self-pollen tube cytoplasm through phase separation and the disruption of SRC formation breaks SI in self-incompatible Petunia *** further find that the pistil SI factors of a small asparagine-rich protein HT-B and thioredoxin h together with a reduced state of the pollen tube all promote the expansion of SRCs,which then sequester several actin-binding proteins,including the actin polymerization factor PhABRACL,the actin polymerization activity of which is reduced by S-RNase in ***,we find that S-RNase variants lacking condensation ability fail to recruit PhABRACL and are unable to induce actin foci formation required for pollen tube growth *** together,our results demonstrate that phase separation of S-RNase promotes SI response in ***,revealing a new mode of S-RNase action.

关键词： self-incompatibility S-RNase phase separation

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3D Printed Polyimide/Silica Composite Aerogels for Customizable Thermal Insulation from-50℃ to 1300℃

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Chinese Journal of Polymer Science 2024年第7期42卷 936-945,I0007页

作者： Dingyi yu Tiantian Xue Zhuocheng Ma Zaiyin Hu Lijuan Long yue-e Miao Wei Fan Tianxi Liu State Key Laboratory for Modification of Chemical Fibers and Polymer Materials College of Materials Science and EngineeringDonghua UniversityShanghai201620China Key Laboratory of Synthetic and Biological Colloids Ministry of EducationSchool of Chemical and Material EngineeringJiangnan UniversityWuxi214122China Guizhou Aerospace Wujiang electro-Mechanical equipment Co. Ltd.Zunyi563000China School of Materials and Architectural engineering Guizhou Normal UniversityGuiyang550025China

Aerogels are widely used as thermal insulation materials because of their high porosity and low bulk ***,the insulation performance of aerogels is limited to a narrow temperature ***,the preparation of aerogel materials with precisely controlled and complex architectures is still ***,we report 3D printed polyimide/silica aerogel particle(PI/SAP)composite aerogels for thermal insulation in a wide range of temperature with customized *** printability and shape fidelity of 3D printed composite aerogels is improved by adding hydrophilic SAP as a rheology *** resulting PI/SAP composite aerogel exhibits excellent flame-retardant properties and thermal insulation from-50℃ to 1300℃.Moreover,the PI/SAP composite aerogel with customized shape can be applied for battery insulation at subzero temperatures,promising to be used as customizable and stable insulating materials in a variety of complex and extreme applications.

关键词： 3D printing Polyimide Aerogel Silica Thermal insulation

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No Incidence of Liver Cancer Was Observed in A Retrospective Studyof Patients with Aristolochic Acid Nephropathy

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Chinese Journal of Integrative Medicine 2024年第2期30卷 99-106页

作者： SU Tao FANG Zhi-e GUO yu-ming WANG Chun-yu WANG Jia-bo JI Dong BAI Zhao-fang YANG Li XiAO Xiao-he Renal Division Department of MedicinePeking University First HospitalBeijing(100034)China Department of Pharmacy Chongqing Hospital of Traditional Chinese MedicineChongqing(400021)China Department of Hepatology Fifth Medical Center of Chinese PLA General HospitalBeijing(100039)China China Military Institute of Chinese Materia Fifth Medical Center of Chinese PLA General HospitalBeijing(100039)China Phase I Clinical Trials Unit Department of Medicine for Infectious DiseasesFifth Medical Center of Chinese PLA General HospitalBeijing(100039)China Department of Pharmacy Affiliated Hospital of Shandong University of Traditional Chinese MedicineJinan(250000)China National Key Laboratory of Kidney Diseases Beijing(100039)China

Objective:To assess the risk of aristolochic acid(AA)-associated cancer in patients with AA nephropathy(AAN).Methods:A retrospective study was conducted on patients diagnosed with AAN at Peking University First Hospital from January 1997 to December ***-term surveillance and follow-up data were analyzed to investigate the influence of different factors on the prevalence of *** primary endpoint was the incidence of liver cancer,and the secondary endpoint was the incidence of urinary cancer during 1 year after taking AA-containing medication to ***:A total of 337 patients diagnosed with AAN were included in this *** the initiation of taking AA to the termination of follow-up,39 patients were diagnosed with *** cases of liver cancer were observed throughout the entire follow-up period,with urinary cancer being the predominant type(34/39,87.17%).Logistic regression analysis showed that age,follow-up period,and diabetes were potential risk factors,however,the dosage of the drug was not significantly associated with urinary ***:No cases of liver cancer were observed at the end of ***,a high prevalence of urinary cancer was observed in AAN *** a direct causality between AA and HCC is challenging.

关键词： aristolochic acid hepatocellular carcinoma urinary cancer drug safety retrospective study

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Challenges and countermeasures for developing countries in addressing loss and damage caused by climate change

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Advances in Climate Change Research 2024年第2期15卷 353-363页

作者： Shuo LIU yu-e LI Bin WANG An-Dong CAI Chao FeNG Hua LAN Ruo-Chen ZHAO Institute of environment and Sustainable Development in Agriculture Chinese Academy of Agricultural SciencesBeijing 100081China Key Laboratory of Agricultural environment Ministry of Agriculture and Rural AffairsBeijing 100081China China Clean Development Mechanism Fund Management Center Beijing 100045China School of International Law China University of Political Science and LawBeijing 100088China

Loss and damage caused by extreme climate events have attracted increasing *** 28th Conference of the Parties to the United Nations Framework Convention on Climate Change(hereinafter referred to as the Convention)has agreed to adopt Loss and Damage Fund agreement,which identified the source of funding and the funds to be entrusted to the World ***,there is still ambiguous that how to allocate the funds could accelerate the effectiveness of meeting the needs for developing ***-disaster prevention and preparedness is one of the most effective measures to deal with loss and damage,which closely related to *** studies rarely analyzed quantitatively the financial needs of pre-disaster prevention and preparedness relating to adaptation to reduce loss and *** on the official reports submitted by countries under the Convention,this study analyzes the annual change in the total financial support provided by developed countries to developing countries,the proportion of pre-disaster prevention and preparedness in the adaptation needs of developing countries,and the progress in raising the current annual funding target of 100 billion USD for developed countries,to reveal the financial and technical challenges facing by developing countries on addressing loss and *** results show that by 2030,the total adaptation financial needs of developing countries are estimated to be about 3.8 trillion USD,of which pre-disaster prevention matters account for about 9%.Therefore,by 2030,developing countries will need about 342 billion USD in pre-disaster prevention and preparedness finance to withstand loss and *** addition,developing countries face a lack of technical methods to quantify information about their *** on the above analysis,this study puts forward countermeasures and suggestions,including strengthening the allocation amount of loss and damage fund on pre-disaster warning,prevention and control actions,and

关键词： Loss and damage Funding mechanism Pre-disaster warning and preparedness Convention negotiations Countermeasures

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