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Enhancing interaction performance of soft pneumatic-networks grippers by skeleton topology optimization

Science China(Technological Sciences) 2021年第12期64卷 2709-2717页

作者： CHEN ShiTong WANG YuSheng LI DeChen CHEN FeiFei ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

The inherent compliance of soft materials imbues robots,generally referred to as soft robots,with particular advantages in producing adaptive and safe ***,the mainstream design paradigms of soft robots have been focused on pursuing large free motions only,usually at the expense of greatly decreased stiffness,leading to limited capability of withstanding external loads in interactive *** is a pressing need to incorporate the interaction specifications at the design stage to embody soft robots with not only proper deformability but equally importantly,considerable stiffness to perform complex tasks in practical ***,inspired by the dexterity of human hands,we propose a computational design framework for soft grippers with a focus on improving their interaction performance in power grasping or precision grasping *** design paradigm rests on attaching a relatively stiffer skeleton layer to the parametric pneumatic networks based actuator which is widely used due to the geometric advantage,and the skeleton layout is designed for customized interaction conditions by a level set based topology optimization *** expected,the optimized skeleton layouts exhibit specified structural features highly relevant to the predefined concentrated loads for precision grip or distributed loads for power grip,which physically implies the compromise between deformability and *** the interaction forces are difficult to measure in situ,we devise power and precision grasping scenarios and evaluate the critical actuation pressure of the object’s falling *** experiments qualitatively demonstrate the superiority of each specified *** work represents an initial step toward the rational design for interaction in soft robots.

关键词： soft robotics interaction grippers topology optimization

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An Origin of Dzyaloshinskii–Moriya interaction at Graphene-Ferromagnet Interfaces Due to the Intralayer RKKY/BR interaction

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Chinese Physics Letters 2020年第8期37卷 130-135页

作者： Jin Yang Jian Li Liangzhong Lin Jia-Ji Zhu School of Science and Laboratory of Quantum Information Technology Chongqing University of Posts and TelecommunicationsChongqing 400065China School of Information Engineering Zhongshan PolytechnicZhongshan 528400China

We present a theory of both the itinerant carrier-mediated RKKY interaction and the virtual excitations-mediated Bloembergen–Rowland(BR)interaction between magnetic moments in graphene induced by proximity effect with a ferromagnetic *** is shown that the RKKY/BR interaction consists of the Heisenberg,Ising,and Dzyaloshinskii–Moriya(DM)*** the case of the nearest distance,we estimate the DM term from the RKKY/BR interaction is about$0.13$meV for the graphene/Co interface,which is consistent with the experimental result of DM interaction$0.16\pm0.05$*** calculations indicate that the intralayer RKKY/BR interaction may be a possible physical origin of the DM interaction in the graphene-ferromagnet *** work provides a new perspective to comprehend the DM interaction in graphene/ferromagnet systems.

关键词： film. interaction RKKY

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Accelerate Bose–Einstein condensate by interaction

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Chinese Physics B 2019年第12期28卷 286-291页

作者： Jie-Li Qin School of Physics and Electronic Engineering Guangzhou UniversityGuangzhou 510006China

In recent years,accelerating waves have attracted great research interests both due to their unique properties and tempting *** we investigate the effect of the inter-particle interaction on accelerating of Bose–Einstein condensate(BEC).We show that spatially homogeneous interactions will have no accelerating effect on BEC regardless of the interaction form(contact,dipole–dipole,or any others).But spatially inhomogeneous interactions may lead to an accelerating motion of the *** an example,the accelerating dynamic of BEC under a spatially linear modulated contact interaction is studied in *** is found that such an interaction will accelerate the condensate with a time varying ***,an interaction engineering scheme to achieve constantly accelerating BEC is proposed and studied *** results suggest that this engineering scheme can also suppress profile changing of the condensate during its evolution,thus realize an accelerating profile-keeping matter wave *** analysis also applies to optical waves with Kerr nonlinearity.

关键词： Bose–Einstein condensate interaction acceleration

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Tribo-corrosion interaction of the parallel steel wires in the suspension bridges

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摩擦:英文版 2023年第12期11卷 2221-2237页

作者： Bo WANG Dagang WANG Hailang CHONG Guozheng XIE Dekun ZHANG Shirong GE School of Mechatronic Engineering China University of Mining and TechnologyXuzhou 221116China School of Materials and Physics China University of Mining and TechnologyXuzhou 221116China College of Mechatronic Engineering China University of Mining and Technology(Beijing)Beijing 100083China

The effect of contact load and relative displacement on tribo-corrosion interaction of parallel steel wires of main cable in the suspension bridge was investigated in this study.A self-made tribo-corrosion test bench was employed to conduct tribo-corrosion tests of parallel steel wires in 3.5%(wt%)NaCl solution and deionized water under different contact loads and different relative *** friction coefficient and wear coefficient of wires were *** corrosion behavior(Tafel polarization curves,Nyquist diagram,and equivalent circuit diagram)was characterized by electrochemical *** morphology was observed by scanning electron *** volume loss and corrosion‒wear interaction were quantitatively demonstrated by high-precision weighing *** results show that the electrochemical corrosion ability of the steel wires increases with the increase of the contact load or relative *** increased contact load or relative displacement increases the volume loss of corrosion‒wear and pure wear,but decreases the wear *** wear mechanisms in 3.5%NaCl solution are adhesive wear,abrasive wear,and corrosive wear as compared to adhesive wear and abrasive wear in deionized water under different contact *** wear mechanisms of parallel steel wires are slightly different under different relative *** the main wear mechanisms are similar to that under different contact *** interaction effects of corrosion and wear produced by the contact load and relative displacement are all the synergistic effects.

关键词： main cable parallel steel wires friction corrosion‒wear interaction

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NUMERICAL RESEARCHES ON interaction BETWEEN PROPELLERS IN UNIFORM FLOW

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Journal of Hydrodynamics 2012年第5期24卷 675-683页

作者： FENG Xue-mei LU Chuan-jing WUQiong CAI Rong-quan School of Naval Architecture Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai 200240China Marine Design and Research Institute of China Shanghai 200011 China

Numerical simulations of the flow around two bidirectional staggered propellers are conducted in uniform flow. The computed open water performance of the fore-propeller is compared with the corresponding experimental results, and the influence of the fore-propeller on the aft one is carefully investigated. It is found that the inflow around the aft propeller close to the side of the fore is especially affected by the fore one, leading to abnormal circumferential distribution of force on the blade in the shade region. For either forces or velocity distributions, the abnormal changes behave contrarily for cases with the rotating speed larger or smaller than the idle. Moreover, the more the rotating speed of the fore differs from the idle, the larger the abnormal values become.

关键词： numerical simulation interaction propellers open water performance

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Floc structure and membrane fouling affected by sodium alginate interaction with Al species as model organic pollutants

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Journal of Environmental Sciences 2019年第8期31卷 1-13页

作者： Xuejun Xiong Hui Xu Beiping Zhang Xiaohui Wu Hongyan Sun Dongsheng Wang Zhengyang Wang School of Environmental Science and Engineering Huazhong University of Science and Technology Key Laboratory of Drinking Water Science and Technology Research Center for Eco-Environmental Sciences Chinese Academy of Sciences State Key Laboratory of Environmental Aquatic Chemistry Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Department of Civil and Environmental Engineering University of Missouri

Membrane filtration combined with pre-coagulation has advantages in advanced wastewater treatment. As a model of a microbial polysaccharide, research on the effect of sodium alginate(SA) on alum hydrolysis has been rare; therefore, it is necessary to gain insight into the interface interaction between SA molecules and Al species, and the role SA plays during floc formation. In this study, the interaction mechanism between SA and Al species has been investigated, by evaluating the effect of SA on floc characteristics and membrane fouling during coagulation–ultrafiltration with different Al species coagulants(AlCl3 and preformed Al13). Al 2 p X-ray photoelectron spectroscopy(XPS) confirmed that the complexation of ligands and Al species strongly affects the reaction pathways for Al hydrolysis and the final nature of the flocs, as Al13 can be decomposed into octahedral precipitates when SA is added. The presence of SA can affect floc properties, which have important impacts on the characteristics of the cake layer and membrane fouling. Due to the bridging ability of SA, the floc strength increased by about 50% using Ala, which was much better than preformed Al13, with a percentage increase of only about 6%. Moreover,the recovery factor of HA-flocs was decreased from 96% to 43% with SA addition of 0.5 mg/*** was concluded that SA can affect the characteristics of the cake layer and membrane fouling through participating in the formation of primary flocs and altering the Al hydrolysis pathway.

关键词： Coagulation–ultrafiltration process Al species Interface interaction X-ray photoelectron spectroscopy Floc properties Membrane fouling

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Skill Learning for Human-Robot interaction Using Wearable Device

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Tsinghua Science and Technology 2019年第6期24卷 654-662页

作者： Bin Fang Xiang Wei Fuchun Sun Haiming Huang Yuanlong Yu Huaping Liu Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China Fuzhou University Fuzhou 350108 China College of Information Engineering Shenzhen UniversityShenzhen 518060China

With the accelerated aging of the global population and escalating labor costs, more service robots are needed to help people perform complex tasks. As such, human-robot interaction is a particularly important research topic. To effectively transfer human behavior skills to a robot, in this study, we conveyed skill-learning functions via our proposed wearable device. The robotic teleoperation system utilizes interactive demonstration via the wearable device by directly controlling the speed of the motors. We present a rotation-invariant dynamicalmovement-primitive method for learning interaction skills. We also conducted robotic teleoperation demonstrations and designed imitation learning experiments. The experimental human-robot interaction results confirm the effectiveness of the proposed method.

关键词： skill learning interaction teleoperation dynamical movement primitive

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Mechanical synergistic interaction between adjacent corrosion defects and its effect on pipeline failure

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Petroleum Science 2023年第4期20卷 2452-2467页

作者： Wei Wang Yi Zhang Jian Shuai Yi Shuai Lei Shi Zhi-Yang Lv College of Safety and Ocean Engineering China University of PetroleumBeijing102249China Key Laboratory of Oil and Gas Safety and Emergency Technology Ministry of Emergency ManagementBeijing102249China Sinopec(Dalian)Research Institute of Petroleum and Petrochemicals Co. LtdDalianLiaoning116014China

This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion ***,a three-dimensional(3D)finite element model of pipelines containing adjacent defects(involving longitudinally aligned,circumferentially aligned,and diagonally aligned defects)was developed and validated by full-scale burst ***,the synergistic stress interaction between adjacent defects was analyzed,and the relationship between the burst position of the pipeline and defect spacing was *** last,the applicability of several commonly used critical spacing rules for identifying the interaction between adjacent defects was compared and discussed in *** results show that the failure position of the pipeline containing adjacent defects is related to the relative position of *** longitudinally aligned corrosion defects,the stronger the interaction between defects(i.e.,the shorter the distance between two defects),the closer the failure position of the pipeline to the center of the defect *** circumferentially aligned corrosion defects,the failure position of the pipe tends to move from the defect edge to the geometric center of the defect with increasing defect *** diagonally aligned defects,the failure position is generally located on the path connecting the defect and the *** currently available evaluation criteria for identifying circumferentially interacting defects display the most accuracy,and the identification effect of diagonally aligned defects is the *** addition,the critical spacing rule proposed by Li presents the highest precision in identifying the interacting *** results are expected to provide a stress synergistic failure assessment method for pipelines containing cluster corrosion defects in engineering.

关键词： Pipelines Adjacent defects interaction Failure position Finite element model

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Sediment Transport Capacity Under the River–Tide interaction in the Changjiang Estuary

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China Ocean Engineering 2019年第2期33卷 207-218页

作者： FENG Zhi-yong TAN Guang-ming XIA Jun-qiang State Key Laboratory of Water Resource and Hydropower Engineering Science Wuhan University

Sediment transport capacity is a fundamental parameter in sediment transport theory and its accurate calculation is important from both theoretical and engineering viewpoints. The capacity of sediment transport has been studied extensively by many researchers in the last decades. Nevertheless, the underlying mechanism behind sediment transport capacity in estuaries remains poorly understood. The current study aims to explore the impact of the river–tide interaction on sediment transport and establish a formula of sediment transport capacity under the river–tide interaction. The impact of the river–tide interaction on the hydrodynamics and sediment dynamics in the Changjiang Estuary was analyzed, a practical method for describing the variation in tide-runoff ratio was established,and a formula of sediment transport capacity considering the impact of river–tide interaction was proposed by introducing the tide-runoff ratio. The new method bridged the gap between two well-known sediment transport capacity methods by considering the variation in the index a for the gravitational term and overcomes the drawback of distinguishing flood/dry season or spring/ebb tide in the calculation of estuarine sediment transport. A large amount of flow and sediment data obtained from the Changjiang Estuary were collected to verify the proposed formula. The effect of salt-fresh water mixture and the morphological evolution on sediment transport capacity of the Changjiang Estuary were discussed.

关键词： sediment transport capacity river tide interaction hydrodynamics and sediment dynamics Changjiang Estuary (Yangtze Estuary)

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Towards estimating computer users＇ mood from interaction behaviour with keyboard and mouse

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Frontiers of Computer Science 2013年第6期7卷 943-954页

作者： Iflikhar Ahmed KHAN Willem-Paul BRINKMAN Robert HIERONS Department of Computer Software Engineering University of Engineering & Technology Mardan 23200 Pakistan Interactive Intelligence Group Delft University of Technology Delft 2628B the Netherlands Department of Information Systems and Computing Brunel University West London UB83PH UK

The purpose of this exploratory research was to study the relationship between the mood of computer users and their use of keyboard and mouse to examine the possibility of creating a generic or individualized mood measure. To examine this, a field study （n = 26） and a controlled study （n = 16） were conducted. In the field study, interaction data and self-reported mood measurements were collected during normal PC use over several days. In the controlled study, participants worked on a programming task while listening to high or low arousing background music. Besides subjective mood measurement, galvanic skin response （GSR） data was also collected. Results found no generic relationship between the interaction data and the mood data. However, the re- suits of the studies found significant average correlations be- tween mood measurement and personalized regression models based on keyboard and mouse interaction data. Together the results suggest that individualized mood prediction is pos- sible from interaction behaviour with keyboard and mouse.

关键词： keyboard mouse interaction mood measure computer users programming

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