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Tactile-sensing-based robotic grasping stability analysis

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science china(Technological sciences) 2024年第6期67卷 1817-1828页

作者： HUANG YanJiang WANG HaoNan ZHANG XianMin Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology South China University of TechnologyGuangzhou510640China

Tactile signals play a crucial role in enabling robots to successfully manipulate unfamiliar *** robots to grasp unknown objects securely and without causing damage,it is essential that they can analyze grasping stability in real time through tactile signals and respond *** study introduces a novel method for analyzing the stability of robotic hand grasping,utilizing the Wilcoxon signed rank *** efficacy of this method is demonstrated through its static and dynamic performance,and evaluated across a series of *** findings of this research highlight the method’s ability to accurately detect when an object begins to slip from the robot’s *** this method allows the gripper to maintain a secure hold on objects by applying the minimal necessary *** also enables the gripper to dynamically adjust the force it applies in real time,thus preventing the object from slipping during the movement of the robotic ***,the gripper demonstrates the ability to stably grasp objects of varied weights and with unknown characteristics,showcasing the versatility and effectiveness of the proposed method.

关键词： grasping stability manipulation tactile sensors

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Compression and stretching of ring vortex in a bulk nonlinear medium

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Chinese Physics B 2024年第2期33卷 264-270页

作者：来娴静蔡晓鸥邵雅斌王悦悦 Department of Basic science Zhejiang Shuren UniversityHangzhou 310015China School of sciences Zhejiang A&F UniversityHangzhou 311300China

We explore the nonlinear gain coupled Schrödinger system through the utilization of the variables separation method and ansatz *** employing these approaches,we generate hierarchies of explicit dissipative vector vortices(DVVs)that possess diverse vorticity *** fundamental characteristics of the DVVs are examined,encompassing amplitude profiles,energy fluxes,parameter effects,as well as linear and dynamic stability.

关键词： vector optical vortices dissipative nonlinear gain

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Vortex identification based on the Liutex method and its effect on fish passage upstream

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Journal of Hydrodynamics 2024年第1期36卷 130-141页

作者： Chun-ying Shen Rui-guo Yang Xiao-tao Shi Ming-ming Wang Shi-hua He Faculty of Electrical Power Engineering Kunming University of Science and TechnologyKunming650500China Hubei International science and Technology Cooperation Base of Fish Passage China Three Gorges UniversityYichang443002China Shanghai Investigation Design and Research Institute Co.LtShanghai200434China

Fishway research is important for mitigating the fragmentation of river habitats caused by hydraulic *** vertical slit fishway is a broadly used fishway type because of its high efficiency and adaptability to water ***,the resulting vortex current disrupts the fish passage hence directly affecting fish *** study aims to accurately capture the vortex structure in the fishway and analyze the effect of vortex elements(vortex structure,vortex intensity,etc.)on *** conducted an analysis of the 3-D current flow field in the fishway through the utilization of an experimental model and the large eddy simulation(LES)***,we captured the vortex information in the fishway at different flow rates using the Liutex vortex identification method and investigated the effect of the vortex on fish *** results revealed that the structures inside the fishway pool occupy most of the room,however,the areas with higher vortex strength were primarily located in the vortex near the vertical seam and the mainstream,the vortex strength inside the fishway gradually increases with increasing flow,suppressing fish *** experienced significantly increased resistance when encountering strong *** suggests that the vortex may act as a physical barrier to fish *** findings highlight the potential negative effects of vortex on fish movement and reiterate the importance of understanding vortex dynamics for aquatic environmental *** an effective tool for identifying vortices in fluid flow,the Liutex method demonstrates features of vortex within the fishway,thereby providing important insights into the interaction between fluid dynamics and aquatic organisms.

关键词： Vertical slit fishway vortex identification method Liutex large eddy simulation(LES) fish experiment computational fluid dynamics

Study on 6-DOF active vibration-isolation system of the ultra-precision turning lathe based on GA-BP-PID control for dynamic loads

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Advances in Manufacturing 2024年第1期12卷 33-60页

作者： Bo Wang Zhong Jiang Pei-Da Hu Department of Precision Instrument Tsinghua UniversityBeijing100084People’s Republic of China Institute of Machinery Manufacturing Technology China Academy of Engineering PhysicsMianyang621900SichuanPeople’s Republic of China

The vibration disturbance from an external environment affects the machining accuracy of ultra-precision machining *** active vibration-isolation systems(AVIS)have been developed based on static *** a vibration-isolation load changes dynamically during ultra-precision turning lathe machining,the system parameters change,and the efficiency of the active vibration-isolation system based on the traditional control strategy *** solve this problem,this paper proposes a vibration-isolation control strategy based on a genetic algorithm-back propagation neural network-PID control(GA-BP-PID),which can automatically adjust the control parameters according to the machining ***-isolation simulations and experiments based on passive vibration isolation,a PID algorithm,and the GA-BP-PID algorithm under dynamic load machining conditions were *** experimental results demonstrated that the active vibration-isolation control strategy designed in this study could effectively attenuate vibration disturbances in the external environment under dynamic load *** design is reasonable and feasible.

关键词： Ultra-precision diamond turning lathe Active vibration isolation Six degrees of freedom Dynamic load Genetic algorithm-back propagation neural network-PID(GA-BP-PID)control

Numerical analysis of the correlation between fluid dynamic modes and hydrodynamic noise in flows around a three-dimensional circular cylinder

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Journal of Hydrodynamics 2024年第1期36卷 119-129页

作者： Jia-jia Qin Ming-xin Zou Yuan Zhuang De-cheng Wan Computational Marine Hydrodynamics Lab(CMHL) School of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong UniversityShanghai200240China Wuhan Second Ship Design and Research Institute Wuhan430205China

The flow around a circular cylinder for Re=1000 is characterized by flow separation and Karman vortex *** typical flow features can be captured to study the correlation between fluid fields and sound *** this paper,the three-dimensional circular cylinder is taken as the research object,and the probes of surface fluctuating pressure and far field sound pressure are arranged every 10°.The directional diagram and the coherence of fluctuating pressure and sound pressure are *** relationship between the flow mode and hydrodynamic noise is studied by using dynamic mode decomposition(DMD).The characteristics of the dipole and quadrupole sound source term of a long span cylinder are *** results show that at the angles between 30°–120°and 190°–350°,the fluctuating pressure contributes more to the generation of dipole *** quadrupole sound source shows three-dimensional effects,which is more obvious in a cylinder with large spanwise length.

关键词： Pressure coherence dynamic mode decomposition flow-sound correlation circular cylinder

On the size generalizibility of graph neural networks for learning resource allocation

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science china(Information sciences) 2024年第4期67卷 239-254页

作者： Jiajun WU Chengjian SUN Chenyang YANG Beihang University School of Electronics and Information Engineering

Size generalization is important for learning resource allocation policies in wireless systems with time-varying scales. If a neural network for learning a wireless policy is not generalizable to the size of its input, it has to be re-trained whenever the system scale changes, which hinders its practical use due to the unaffordable training costs. Graph neural networks(GNNs) have been shown with size generalization ability empirically when optimizing resource allocation. Yet, are GNNs naturally size generalizable? In this paper,we argue that GNNs are not always size generalizable for resource allocation. We find that the aggregation and activation functions of the GNNs for learning a class of wireless policies play a key role in their size generalization ability. We take the GNN with the mean aggregator, called mean-GNN, as an example to reveal a size generalization condition. To demonstrate how to satisfy the condition, we learn power and bandwidth allocation policies for ultra-reliable low-latency communications and show that selecting or pretraining the activation function in the output layer of mean-GNN can make the GNN size *** results validate our analysis and evaluate the performance of the learned policies.

关键词： size generalization graph neural networks resource allocation permutation equivariance

Lead-free metal halide scintillator materials for imaging applications

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science china(Information sciences) 2024年第8期67卷 85-101页

作者： Junzhe LIN Dan GUO Tianrui ZHAI Department of Physics and Optoelectronic Engineering Beijing University of Technology

High-energy radiation detection and imaging technology has significant applications in highenergy physics research, medical imaging, and industrial monitoring. Lead-free metal halides exhibit exceptional potential for conducting indirect detection of high-energy radiation due to their characteristics of low toxicity, strong stability, high light yield, and large Stokes shift. This paper reviews the most recent advances in lead-free metal halide scintillator materials for X-ray imaging. Subsequently, it lists the most important parameters of scintillator performance and introduces the production procedures for single crystal, powder,and nanocrystal scintillators. Furthermore, it discusses the manufacturing of scintillator films with improved performance, focusing on large-area flexible scintillator films and the coupling with microstructures. Finally,it discusses current challenges and opportunities for enhancing X-ray imaging using lead-free metal halide scintillator materials.

关键词： film imaging lead-free metal halide luminescence scintillators

Numerical investigation on compressible flow around a cylinder in proximity to the heated wall

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Journal of Hydrodynamics 2024年第3期36卷 519-533页

作者： Yu-lu Liu Jun-wang Qu Yi-zhou Tao Yong-guang Lyu Xiang Qiu Shanghai Institute of Technology School of ScienceShanghai201418China Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai Institute of Applied Mathematics and MechanicsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai200072China

In this study,direct numerical simulations were conducted to investigate the compressible flow around a circular cylinder near a heated wall at a Reynolds number(Re)of 500 and a Mach number(Ma)of *** heating ratio T^(*)ranging from 1.0 to 1.6 represents the different situations of a heated wall,whereas the gap ratio ranges from 0.3 to *** study analyzed the impact of heating effect and wall proximity on flow characteristics and aerodynamic *** results indicated that the stability of the flow was enhanced as the gap ratio decreased or the heating ratio *** the calculation of enstrophy,it was found that the strength of shedding vortices weakens with a decrease in gap ratio or an increase in heating ***,the mean drag coefficient decreases as the heating ratio increases or the gap ratio *** contrast,the mean lift coefficient initially decreases and then increases as the gap ratio ***,the drag reduction mechanism was analyzed by examining the pressure distribution on the surface of the cylinder.

关键词： Compressible flow wall proximity heating effect stability enstrophy

On the two-layer high-level Green-Naghdi model in a general form

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Journal of Hydrodynamics 2024年第1期36卷 78-86页

作者： Bin-bin Zhao Tian-yu Zhang Zhan Wang Wen-yang Duan Alexander Chesnokov Natalia Shmakova College of Shipbuilding Engineering Harbin Engineering UniversityHarbin150001China Qingdao Innovation and Development Center of Harbin Engineering University Qingdao266000China Lavrentyev Institute of Hydrodynamics NovosibirskRussia

The traditional high-level Green-Naghdi(HLGN)model,which uses the polynomial as the shape function to approximate the variation of the horizontal-and vertical-velocity components along the vertical direction for each-fluid layer,can accurately describe the large-amplitude internal waves in a two-layer system for the shallow configuration(h_(2)/λ■1,h_(1)/λ■1).However,for the cases of the deep configuration(h_(2)/λ■1,h_(1)/λ=O(1)),higher-order polynomial is needed to approximate the variation of the velocity components along the vertical direction for the lower-fluid ***,however,introduces additional unknowns,leading to a significant increase in computational *** paper,for the first time,derives a general form of the HLGN model for a two-layer fluid system,where the general form of the shape function is used during the *** obtaining the general form of the two-layer HLGN equations,corresponding solutions can be obtained by determining the reasonable shape ***-amplitude internal solitary waves in a deep configuration are studied by use of two different HLGN *** of the two HLGN models shows that the polynomial as the shape function for the upper-fluid layer and the production of exponential and polynomial as the shape function for the lower-fluid layer is a good *** comparing with Euler’s solutions and the laboratory measurements,the accuracy of the two-layer HLGN model is verified.

关键词： High-level Green-Naghdi(HLGN)model general form internal waves deep configuration