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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU state key laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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Heterostructural NiFeW disulfide and hydroxide dual‐trimetallic core‐shell nanosheets for synergistically effective water oxidatio

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Carbon Energy 2024年第8期6卷 192-204页

作者： Peng‐Fei Guo Yang Yang Bing Zhu Qian‐Nan Yang Yan Jia Wei‐Tao Wang Zhao‐Tie Liu Shi‐Qiang Zhao Xun Cui key laboratory of Chemical Additives for China National Light Industry College of Chemistry and Chemical EngineeringShaanxi University of Science and TechnologyXi'anChina School of Chemistry and Chemical Engineering Shaanxi Normal UniversityXi'anChina key laboratory of Carbon Materials of Zhejiang Province Wenzhou Key Lab of Advanced Energy Storage and ConversionZhejiang Province Key Lab of Leather EngineeringCollege of Chemistry and Materials EngineeringWenzhou UniversityWenzhouChina state key laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile UniversityWuhanChina

A stable and highly active core‐shell heterostructure electrocatalyst is essential for catalyzing oxygen evolution reaction(OER).Here,a dual‐trimetallic core‐shell heterostructure OER electrocatalyst that consists of a NiFeWS_(2)inner core and an amorphous NiFeW(OH)_(z)outer shell is designed and synthesized using in situ electrochemical *** electrochemical measurements of different as‐synthesized catalysts with a similar mass loading suggest that the core‐shell Ni_(0.66)Fe_(0.17)W_(0.17)S_(2)@amorphous NiFeW(OH)_(z)nanosheets exhibit the highest overall performance compared with that of other bimetallic reference catalysts for the ***,the nanosheet arrays were in situ grown on hydrophilic‐treated carbon paper to fabricate an integrated three‐dimensional electrode that affords a current density of 10 mA cm^(−2)at a small overpotential of 182 mV and a low Tafel slope of 35 mV decade^(−1)in basic *** Faradaic efficiency of core‐shell Ni_(0.66)Fe_(0.17)W_(0.17)S_(2)@amorphous NiFeW(OH)_(z)is as high as 99.5%for *** scanning electron microscope,transmission electron microscope,and X‐ray photoelectron spectroscopy analyses confirm that this electrode has excellent stability in morphology and elementary composition after long‐term electrochemical ***,density functional theory calculations further indicate that the core‐shell heterojunction increased the conductivity of the catalyst,optimized the adsorption energy of the OER intermediates,and improved the OER *** study provides a universal strategy for designing more active core‐shell structure electrocatalysts based on the rule of coordinated regulation between electronic transport and active sites.

关键词： amorphous NiFeW hydroxide core‐shell heterojunction in situ electrochemical tuning NiFeW disulfide oxygen evolution reaction

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Effect of Al_(2)O_(3)fiber on twin intersections-induced dynamic recrystallization in fine-grained TiAl matrix composite

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Journal of Materials Science & Technology 2024年第5期172卷 1-14页

作者： Yaofeng Luo Yan Wang Li Wang Bin Liu Yong Liu state key laboratory of Powder Metallurgy Central South UniversityChangsha 410083China

Dynamic recrystallization(DRX)is of great significance for the thermomechanical processing and microstructural regulation of TiAl ***,the underlying DRX mechanism remains poorly *** this study,an Avrami kinetics model for DRX was established,which was capable of predicting the DRX fraction *** addition,the effect of Al_(2)O_(3)short fiber on the DRX mechanisms of TiAl matrix composite during the isothermal compression was investigated for the first *** re-sults showed that other than inhibiting DRX by particles in the TiAl matrix composites,the addition of Al_(2)O_(3)short fiber accelerated a novel DRX process,which was induced by twinning and twin intersec-tions(TDRX).Thus,this composite exhibited a higher DRX rate than that of the as-cast TiAl monolithic *** origin of the twin intersection and TDRX for the composite was *** stress concentration near the Al_(2)O_(3)fiber was above the critical shear stress for twinning and thus was favorable for the formation of twinning and twin *** high stored strain energy at the regions of twins and twin intersections provided the driving force for *** accelerated the grain refinement in the TiAl matrix near the Al_(2)O_(3)*** present findings would provide a new perspective on DRX mechanisms,and provide the scientific guidance for optimizing the microstructures of TiAl matrix composites.

关键词： TiAl matrix composite Al_(2)O_(3)fiber Twin intersection Dynamic recrystallization

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Amplified Electrochemical Immunoassay Using HRP labeled Protein as an Inhibitor to Silver Deposition in the Presence of H_2O_2

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Chinese Chemical Letters 2006年第4期17卷 489-492页

作者： Zhao Peng CHEN Jian Hui JIANG Xiao Bing ZHANG Guo Li SHEN Ru Qin YU state key laboratory for chemo/biosensing and chemometrics College of Chemistry and Chemical Engineering Hunan University Changsha 410082

A novel electrochemical immunosensor with amplification effect based on the enzyme inhibition of silver deposition was proposed. In this method, the capture antibody was first immobilized onto a gold electrode via a self-assembled layer. After a sandwich immunoreaction, HRP labeled antibody was bound to the gold electrode. The HRP on the electrode inhibited silver deposition when the electrode was incubated in hydroquinone-H2O2 solution and silver ion solution. The linear sweep voltammetry was chosen to detect the deposited silver and the result showed that the peak current was linearly proportional to the content of IgG in the range of 50 to 2500 ng/mL with a detection limit of 35 ng/mL.

关键词： Immunosensor linear sweep voltammetry silver deposition.

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Preparation of Ni nanoparticles plating by electrodeposition using reverse microemulsion as template

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Journal of Central South University 2010年第1期17卷 40-44页

作者：周海晖彭春玉付超鹏安静邹贺王一栋许岩旷亚非 College of Chemistry and Chemical Engineering Hunan University state key laboratory for chemo/biosensing and chemometrics Hunan University

Ni nanoparticles plating was prepared in reverse microemulsion. The deposition was carried out through the Brownian motion of water pools in the reverse microemulsion and the adsorption of water pools on the electrode surface. Effects of electrolytic parameters on the size of Ni particles were studied. The performances of hydrogen evolution and hydrogen storage of the Ni nanoparticles plating electrode were also investigated. The results indicate that the size of Ni nanoparticles decreases with the increase of Ni2+ concentration and the decrease of current density. The electrochemical activity of Ni nanoparticles plating electrode is much higher than that of bulk Ni electrode.

关键词： Ni nanoparticles reverse microemulsion electrodeposition electrolytic parameters

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Effect of mesopore spatial distribution of HZSM-5 catalyst on zinc state and product distribution in 1-hexene aromatization

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Chinese Journal of Chemical Engineering 2024年第3期67卷 16-26页

作者： Chenhao Wei Di Gao Guohao Zhang Liang Zhao Jinsen Gao Chunming Xu The state key lab of Heavy Oil Processing China University of Petroleum(Beijing)Beijing 102249China SINOPEC Research Institute of Petroleum Processing Co. Ltd.Beijing 100083China

1-hexene aromatization is a promising technology to convert excess olefin in fluid catalytic cracking(FCC)gasoline to high-value benzene(B),toluene(T),and ***,the increasing market demand of xylene has put forward higher requirements for new generation of *** increasing xylene yield in 1-hexene aromatization,the effect of mesopore structure and spatial distribution on product distribution and Zn loading was *** with different mesopore spatial distribution were prepared by post-treatment of parent HZSM-5 zeolite,including NaOH treatment,tetra-propylammonium hydroxide(TPAOH)treatment,and *** was found the evenly distributed mesopore mainly prolongs the catalyst lifetime by enhancing diffusion properties but reduces the aromatics selectivity,as a result of damage of micropores close to the catalyst *** the selectivity of high-value xylene can be highly promoted when the mesopore is mainly distributed interior the ***,the state of loaded Zn was also affected by mesopores spatial *** the optimized catalyst,the xylene selectivity was enhanced by 12.4%compared with conventional Zn-loaded parent HZSM-5 catalyst at conversion over 99%.It was attributed to the synergy effect of mesopores spatial distribution and optimized acid *** work reveals the role of mesopores in different spatial positions of 1-hexene aromatization catalysts in the reaction process and the influence on metal distribution,as well as their synergistic effect two on the improvement of xylene selectivity,which can improve our understanding of catalyst pore structure and be helpful for the rational design of high-efficient catalyst.

关键词： 1-Hexene aromatization Alkali treatment Xylene selectivity Mesopores Zinc state

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Aggregation-induced T_(1)/T_(2) contrast enhancement for magnetic resonance imaging-guided intraoperative surgery

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Science China Chemistry 2024年第6期67卷 2046-2055页

作者： Wenbo Sun Bin Yu Dianshuai Huang Chunhuan Jiang Wei Wang Jianhua Liu Zonghua Wang Lehui Lu state key laboratory of Electroanalytical Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun130022China College of Chemistry and Chemical Engineering Shandong Sino-Japanese Center for Collaborative Research of Carbon NanomaterialsQingdao Application Technology Innovation Center of Photoelectric Biosensing for Clinical Diagnosis and TreatmentQingdao UniversityQingdao266071China Department of Radiology Second Hospital of Jilin UniversityChangchun130041China

Magnetic resonance imaging(MRI)plays an important role in precision medicine that is hampered by the lack of contrast agents with high efficiency and the ability to translate diagnostic accuracy into therapeutic ***,we demonstrate a DNA-based MRI probe that overcomes previous single-mode enhancement and provides a mechanism of action for aggregationinduced dual-modal MRI signal enhancement.A facile method is developed to produce aggregated T_(1)/T_(2)dual-modal NaGdF_(4):Dy@PDA-DNA(PDA=polydopamine)MRI *** aggregated,this probe can further amplify MRI signal intensity and exhibit improved geometrical and positional stability in *** performance of the NaGdF_(4):Dy@PDA-DNA MRI probe toward MRI-guided preoperative planning and visualization-guided surgery is verified using an orthotopic tumor-bearing mouse *** result shows that the rapid metabolism of the degraded probe leads to the mitigation of long-term toxic ***,the developed high-performance MRI probe is of great significance for enhancing MRI diagnostic accuracy into precision medical therapeutic interventions.

关键词： MRI probe DNA aggregation-induced T_(1)/T_(2)contrast enhancement precision medicine degradable probe

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Improving actionable warning identification via the refined warning-inducing context representation

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Science China(Information Sciences) 2024年第5期67卷 321-322页

作者： Xiuting GE Chunrong FANG Xuanye LI Quanjun ZHANG Jia LIU Zhihong ZHAO Zhenyu CHEN state key laboratory for Novel Software Technology Nanjing University

Static analysis tools(SATs) have shown potential ability in software quality assurance [1]. However, SATs report an overwhelming number of warnings, where most warnings are unactionable ones(i.e., warnings that are not acted on or fixed by developers). It is not a trivial task for developers to find actionable warnings(i.e., warnings that are acted on and fixed by developers) in all reported warnings. Hence,the excessive unactionable warnings seriously impede the usability of SATs [2].

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Comparative analysis of frictional behavior and mechanism of molybdenum ditelluride with different structures

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Friction 2024年第1期12卷 110-119页

作者： Lina ZHANG Xinfeng TAN Jianguo JIAO Dan GUO Jianbin LUO state key laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China

Two-dimensional(2D)transition metal dichalcogenides(TMDCs)have layered structures with excellent tribological *** the energy difference between hexagonal-molybdenum ditelluride(2H-MoTe_(2))and distorted octahedral-molybdenum ditelluride(1T′-MoTe_(2))is very small among the transition metal dichalcogenides(TMDCs),MoTe_(2) becomes one of the most promising candidates for phase *** our experiment,we found that the friction force and friction coefficient(COF)of 2H-MoTe_(2) were an order of magnitude smaller than those of 1T′-MoTe_(2) by the atomic force microscope(AFM)*** friction difference between 1T′-MoTe_(2) and 2H-MoTe_(2) was further verified in molecular dynamics(MD)*** density functional theory(DFT)calculations suggest that the friction contrast is related to the difference in sliding energy barrier of the potential energy surface(PES)for a tip sliding across the *** PES obtained from the DFT calculation indicates that the maximum energy barrier and the minimum energy path(MEP)energy barrier of 2H-MoTe_(2) are both smaller than those of 1T′-MoTe_(2),which means that less energy needs to be dissipated during the sliding *** difference in energy barrier of the PES could be ascribed to its larger interlayer spacing and weaker Mo–Te interatomic interactions within the layers of 2H-MoTe_(2) than those of 1T′-MoTe_(2).The obvious friction difference between 1T′-MoTe_(2) and 2H-MoTe_(2) not only provides a new non-destructive means to detect the phase transition by the AFM,but also provides a possibility to tune friction by controlling the phase transition,which has the potential to be applied in extreme environments such as space lubrication.

关键词： friction two-dimensional(2D)materials distorted octahedral-molybdenum ditelluride(1T′-MoTe_(2)) hexagonal-molybdenum ditelluride(2H-MoTe_(2)) phase transition

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Performance of Amperometric and Potentiometric Hydrogen Sensors

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Journal of Materials Science & Technology 2014年第11期30卷 1160-1165页

作者： Yuejun Ouyang Xiaojian Wang Gang Yu Zhengwei Song Xueyuan Zhang state key laboratory of chemo/biosensing and chemometrics College of Chemistry and Chemical EngineeringHunan University Materials Science and Engineering laboratory Huaihua University

The principle, design, construction and performance of the amperometric and potentiometric sensors for measuring the permeation rate of hydrogen through the wall of metal equipment were investigated in order to develop a new type of hydrogen sensor with high accuracy. The transient curves of hydrogen permeation under a given charging condition were employed to evaluate the performance of two types of hydrogen sensors. The relative deviation of the hydrogen concentration detected with two types of sensors under the same condition varied from 3.0% to 13%. The accuracy, response time, reproducibility, and installation were discussed and compared. Response time of the potentiometric sensor （E-sensor） was shorter than that of the amperometric sensor （I-sensor）. Both types of sensors exhibited good reproducibility. Development of I-sensor composed of a kind of proton conductor adhesives or non-fluid electrolytes which contain two functions of high electrical conductivity and a strong adhesion will be a promising prospect in order to measure hydrogen permeation at high temperature.

关键词： Hydrogen sensor Hydrogen diffusion Hydrogen embrittlement Nickel

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