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Controlling a peristaltic robot inspired by inchworms

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Biomimetic Intelligence & Robotics 2024年第1期4卷 88-96页

作者： Yanhong Peng Hiroyuki Nabae Yuki Funabora Koichi Suzumori Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8601Japan Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan

This study presents an innovative approach in soft robotics,focusing on an inchworm-inspired robot designed for enhanced transport *** explore the impact of various parameters on the robot’s performance,including the number of activated sections,object size and material,supplied air pressure,and command execution *** a series of controlled experiments,we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g,significantly outperforming existing models in both speed and load *** findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport *** research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object *** study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.

关键词： McKibben artificial muscles Bionics Soft robotics Soft actuator Bio-inspired robotics

Side-Chain Type Ferrocene Macrocycles

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Precision Chemistry 2024年第4期2卷 143-150页

作者： Bin Lan Jindong Xu Lingyun Zhu Xinyu Chen Hideya Kono Peihan Wang Xin Zuo Jianfeng Yan Akiko Yagi Yongshen Zheng Songhua Chen Yaofeng Yuan Kenichiro Itami Yuanming Li Key Laboratory of Molecule Synthesis and Function Discovery(Fujian Province university) College of ChemistryFuzhou UniversityFuzhou 350108China Institute of Transformative Bio-Molecules(WPI-ITbM) Nagoya UniversityNagoya 464-8602Japan School of Materials Science and Engineering National Institute for Advanced MaterialsNankai UniversityTianjin 300350China Institute of Transformative Bio-Molecules(WPIITbM) Nagoya UniversityNagoya 464-8602Japan College of Chemistry and Material Science Longyan UniversityLongyan 364012China

A class of side-chain type ferrocene macrocycles with a radially conjugated system is introduced in this *** stereo configurations of these ferrocene rings were determined through single-crystal X-ray diffraction ***,in the solid state,the ferrocene rings exhibit a distinctive herringbone stacking pattern imposed by a ferrocene-to-ring host−guest *** UV−vis absorption spectroscopy,electrochemical measurements,and theoretical calculations,valuable insights into the electronic properties of these rings were *** addition,the single crystal of macrocycle A_(2)B demonstrates a second-order nonlinear optical *** a class of organometallic nanorings,this work holds great potential for further exploration in the fields of organometallic chemistry,molecular electronics,and host−guest chemistry.

关键词： Ferrocene Conjugated Macrocycles Organometallic Macrocycles Second-Order Nonlinear Optical Nanoring

Method to measure tree-ring width,density,elemental composition,and stable carbon and oxygen isotopes using one sample

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Journal of Forestry Research 2024年第3期35卷 167-174页

作者： Chenxi Xu Yaru Zhao Wenling An Qingyu Zhao Yucheng Liu Masaki Sano Takeshi Nakatsuka Key Laboratory of Cenozoic Geology and Environment Institute of Geology and GeophysicsChinese Academy of SciencesBeijing 100029People's Republic of China CAS Center for Excellence in Life and Paleoenvironment Beijing 100044People's Republic of China College of Earth Sciences University of Chinese Academy of SciencesBeijing 100049People's Republic of China Graduate School of Environment Studies Nagoya UniversityNagoya 4648601Japan

Tree-ring width(RW),density,elemental com-position,and stable carbon and oxygen isotope(δ^(13)C,δ^(18)O)are widely used as proxies to assess climate change,ecology,and environmental pollution;however,a specific pretreat-ment has been needed for each ***,we developed a method by which each proxy can be measured in the same ***,the sample is polished for ring width *** obtaining the ring width data,the sample is cut to form a 1-mm-thick wood *** sample is then mounted in a vertical sample holder,and gradually scanned by an X-ray ***,the count rates of the fluorescent photons of elements(for chemical characteriza-tion)and a radiographic grayscale image(for wood density)are obtained,*** density and the element content are ***,cellulose is isolated from the 1-mm wood plate by removal of lignin,and *** producing this cellulose plate,cellulose subsamples are separated by knife under the microscope for inter-annual and intra-annual stable carbon and oxygen isotope(δ^(13)C,δ^(18)O)*** on this method,RW,density,elemental composition,δ^(13)C,and δ^(18)O can be measured from the same sample,which reduces sample amount and treatment time,and is helpful for multi-proxy comparison and combination research.

关键词： Tree-ring width Tree-ring density Tree-ring elemental composition Tree-ring stable carbon and oxygenisotopes

Ripple Knowledge Graph Convolutional Networks for Recommendation Systems

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Machine Intelligence Research 2024年第3期21卷 481-494页

作者： Chen Li Yang Cao Ye Zhu Debo Cheng Chengyuan Li Yasuhiko Morimoto Graduate School of Informatics Nagoya UniversityChikusaNagoya 464-8602Japan Centre for Cyber Resilience and Trust Deakin UniversityBurwood 3125Australia Science TechnologyEngineering and Mathematics(STEM)University of South AustraliaAdelaide 5000Australia Graduate School of Engineering Hiroshima UniversityHigashi-hiroshima 10587Japan

Using knowledge graphs to assist deep learning models in making recommendation decisions has recently been proven to effectively improve the model′s interpretability and *** paper introduces an end-to-end deep learning model,named representation-enhanced knowledge graph convolutional networks(RKGCN),which dynamically analyses each user′s preferences and makes a recommendation of suitable *** combines knowledge graphs on both the item side and user side to enrich their representations to maximize the utilization of the abundant information in knowledge *** is able to offer more personalized and relevant recommendations in three different *** experimental results show the superior effectiveness of our model over 5 baseline models on three real-world datasets including movies,books,and music.

关键词： Deep learning recommendation systems knowledge graph graph convolutional networks(GCNs) graph neural networks(GNNs)

Novel soft robotic finger model driven by electrohydrodynamic(EHD)pump

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Journal of Zhejiang university-Science A(Applied Physics & Engineering) 2024年第7期25卷 596-604页

作者： Xuehang BAI Yanhong PENG Dongze LI Zhuochao LIU Zebing MAO Department of Mechanical Automotive and Materials EngineeringFaculty of EngineeringUniversity of WindsorWindsorN9B 3P4Canada Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya464-8601Japan Department of Intelligent Science and Technology College of Computer Science and TechnologyQingdao UniversityQingdao266071China Design and Research Institute of university of Science and Technology Beijing Co.Ltd. Beijing100083China Faculty of Engineering Yamaguchi UniversityYamaguchi755-8611Japan

1Introduction In the field of robotic-human interactions,soft robotics offers enhanced safety and adaptability.A major challenge in this area is the integration of soft actuators with pump systems,which often increases the system volume and *** study presents the development and testing of a robotic finger powered by electrohydrodynamic(EHD)*** leveraging the electric field-induced flow of dielectric fluids.

关键词： robotic complexity. pump

A hybrid contact approach for modeling soil-structure interaction using the material point method

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第5期16卷 1864-1882页

作者： Qinyang Sang Yonglin Xiong Rongyue Zheng Xiaohua Bao Guanlin Ye Feng Zhang Key Laboratory of Impact and Safety Engineering Ministry of EducationSchool of Mechanical Engineering and MechanicsNingbo UniversityNingbo315211China Institute of Geotechnical Engineering Ningbo UniversityNingbo315211China College of Civil and Transportation Engineering Shenzhen UniversityShenzhen518060China Department of Civil Engineering Shanghai Jiao Tong UniversityShanghai200240China Department of Civil Engineering Nagoya Institute of TechnologyShowa-kuGokiso-choNagoya466-8555Japan

The grid-based multi-velocity field technique has become increasingly popular for simulating the Material Point Method(MPM)in contact ***,this traditional technique has some shortcomings,such as(1)early contact and contact penetration can occur when the contact conditions are unsuitable,and(2)the method is not available for contact problems involving rigid-nonrigid materials,which can cause numerical *** study presents a new hybrid contact approach for the MPM to address these limitations to simulate the soil and structure *** approach combines the advantages of point-point and point-segment contacts to implement contact detection,satisfying the impenetrability condition and smoothing the corner contact *** proposed approach is first validated through a disk test on an inclined ***,several typical cases,such as granular collapse,bearing capacity,and deformation of a flexible retaining wall,are simulated to demonstrate the robustness of the proposed approach compared with FEM or analytical ***,the proposed method is used to simulate the impact of sand flow on a deformable *** results show that the proposed contact approach can well describe the phenomenon of soil-structure interaction problems.

关键词： Material point method Soil-structure interaction Numerical simulation Contact algorithm

Geometric based apple suction strategy for robotic packaging

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International Journal of Agricultural and Biological Engineering 2024年第3期17卷 12-20页

作者： Zhong Wang Qingyu Wang Mingzhao Lou Fan Wu Yaonan Zhu Dong Hu Mingchuan Zhou Yibin Ying College of Optical Mechanical and Electrical EngineeringZhejiang A&F UniversityHangzhou 311300China College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Zhejiang UniversityHangzhou 310058China Department of Micro-Nona Mechanical Science and Engineering Nagoya UniversityFuro-choChikusa-kuNagoya 464-8601Japan

Packaging is one of the least automated steps among all the fruit postharvest processes,which is time-consuming and ***,a robust suction strategy for robotic manipulation needs to be *** this research,a geometric-based apple suction strategy for robotic packaging was studied,including suction cup design,optimal suction region selection algorithm,and robot system *** the first place,on the basis of the geometric features of the spheroid fruit,the structure of the suction cups was designed to provide reliable suction ***,suction force measurement experiments on both acrylic balls and apples were *** on the results,the parameters of the suction cup were finally *** results also indicated that the curvature radius of the suction region is supposed to larger than that of the suction ***,a robust suction region selection algorithm was developed,which involves four steps:RGB-D information acquisition,object detection and point cloud generation,spherical fitting,and suction region ***,the above methods were integrated into a robotic packaging *** addition,on the basis of spatial-frequency domain imaging(SFDI)technology,early stage bruise was detected for *** results showed that,the proposed suction strategy and system is potential for robust robotic apple packaging.

关键词： apple suction cup robotic packaging robotic manipulation point cloud

Recent advances in heterogeneous catalysis of solar-driven carbon dioxide conversion

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Journal of Environmental Sciences 2024年第6期140卷 165-182页

作者： Jun Xu Farzaneh Arabpour Roghabadi Ying Luo Vahid Ahmadi Qian Wang Zheng Wang Hong He State Key Joint Laboratory of Environment Simulation and Pollution Control Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China College of Chemistry and Chemical Engineering Henan Polytechnic UniversityJiaozuoHenan 454000China Department of Process Engineering Faculty of Chemical EngineeringTarbiat Modares UniversityTehranIran Optoelectronics and Nanophotonics Research Group Faculty of Electrical and Computer EngineeringTarbiat Modares UniversityTehranIran Graduate School of Engineering Nagoya UniversityFuro-choChikusa-kuNagoya 464-8603Japan

Solar-driven carbon dioxide(CO_(2))conversion including photocatalytic(PC),photoelectrochemical(PEC),photovoltaic plus electrochemical(PV/EC)systems,offers a renewable and scalable way to produce fuels and high-value chemicals for environment and energy *** review summarizes the basic fundament and the recent advances in the field of solar-driven CO_(2)*** the visible-light absorption is an important strategy to improve solar energy conversion *** separation and migration of photogenerated charges carriers to surface sites and the surface catalytic processes also determine the photocatalytic *** engineering including co-catalyst loading,defect engineering,morphology control,surface modification,surface phase junction,and Z-scheme photocatalytic system construction,have become fundamental strategies to obtain high-efficiency *** to photocatalysis,these strategies have been applied to improve the conversion efficiency and Faradaic efficiency of typical PEC *** PV/EC systems,the electrode surface structure and morphology,electrolyte effects,and mass transport conditions affect the activity and selectivity of electrochemical CO_(2)***,the challenges and prospects are addressed for the development of solar-driven CO_(2)conversion system with high energy conversion efficiency,high product selectivity and stability.

关键词： Solar-driven CO_(2)reduction Photocatalytic system Photoelectrochemical system Photovoltaic plus electrochemical system Surface/interface engineering

Changes in the Supply of Public Intermediate Goods,Fixed Wage,and the Relative Price in the Harris-Todaro Model

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Proceedings of Business and Economic Studies 2024年第4期7卷 254-262页

作者： Boya Chi Graduate School of Economics Nagoya UniversityFuro-ChoChikusa-KuNagoya 464-8601Japan

Since the Harris-Todaro model was proposed in 1970,it has played a crucial role in analyzing various environmental and trade issues in developing *** paper analyzes the effects of the amount of public intermediate goods provided by the government,the increase in the fixed wage rate in the urban sector,and the changes in the relative international prices of agricultural and manufacturing goods on labor employment,unemployment,and the economic welfare in the context of a small open *** also proposes relevant policies to reduce the unemployment rate while improving national welfare.

关键词： International trade Public intermediate good Economic welfare Harris-Todaro model