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Light weight design and integrated method for manufacturing hydraulic wheel-legged robots

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第9期25卷 701-715页

作者： Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU state key laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China state key laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Design and manufacturing play pivotal roles in hydraulic-driven robotic ***,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturing *** paper introduces a novel approach known as light weight design and integrated manufacturing(LD&IM)for hydraulic wheel-legged *** LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45%weight reduction,enhancing the robot’s dynamic motion *** innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged ***,the integrated manufacturing method,incorporating selective laser melting(SLM)and high-precision subtractive manufacturing(SM)processes,expedites the fabrication of high-quality *** the LD&IM approach,a hydraulic-driven single wheel-legged robot,denoted as WLR-IV,has been successfully *** robot boasts low mass and inertia,high strength,and a simplified component *** assess its dynamic jumping capabilities,the control loop integrates a linear quadratic regulator(LQR)and zero dynamic-based controller,while trajectory planning uses the spring-loaded inverted pendulum(SLIP)*** jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance,validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.

关键词： Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control

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Insights into the role of oxygen-containing functional groups on carbon surface in water–electricity generation

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Nano Research 2024年第7期17卷 6645-6653页

作者： Wan Xue Zongbin Zhao Honghui Bi Bolun Zhang Xuzhen Wang Jieshan Qiu state key laboratory of Fine Chemicals Liaoning Key Laboratory for Energy Materials and Chemical EngineeringSchool of Chemical EngineeringDalian University of TechnologyDalian 116024China state key laboratory of Fine Chemicals Liaoning Key Laboratory for Energy Materials and Chemical EngineeringSchool of ChemistryDalian University of TechnologyDalian 116024China state key laboratory of Chemical Resource Engineering College of Chemical EngineeringBeijing University of Chemical TechnologyBeijing 100029China

A deep understanding of the electricity generation mechanism from the interaction between water molecules and carbon material surfaces is attractive for next-generation water-based energy conversion and storage ***,an asymmetric generator was assembled based on functionalized carbon nanotubes films to investigate the relative contribution from various oxygen functional groups on carbon surface to the water-electrical *** and calculations demonstrate that the electricity mainly originates from the water molecule adsorption by carboxyl groups and dissociation of functional groups on carbon surface,which leads to the formation of electrical double layers at *** device allows the electricity generation with a variety of water sources,such as deionized water,tap water,as well as *** particular,the generator based on carboxyl carbon nanotubes can induce a voltage of over 200 mV spontaneously in natural seawater with the power density of about 0.11 mW·g^(−1).High voltages can be achieved easily through the series-connection strategy to power electronic products such as a liquid crystal *** work reveals the dominant role of carboxyl groups in carbon-based water–electricity conversion and is expected to offer inspiration for the preparation of carbon materials with high electrical performance.

关键词： electricity generation water adsorption dissociation carboxyl groups carbon nanotubes

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The risk factors and threshold level of subchronic inhalation exposure of reclaimed water

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Journal of Environmental Sciences 2024年第3期137卷 639-650页

作者： Jiayang Kong Yun Lu Yunru Ren Menghao Chen Gang Liu Liangliang Shi state key Joint laboratory of Environment Simulation and Pollution Control State Environment Protection Key Laboratory of Microorganism Application and Risk ControlSchool of EnvironmentTsinghua UniversityBeijing 100084China

Inhalation of reclaimed water is known to cause lung infammation,and free endotoxins have been shown to be a major risk factor for acute *** exposure has also been shown to induce infammatory responses with visible tissue ***,subchronic risk factors have yet to be identified,and a threshold for the protection of occupational populations during urban reuse is *** this study,potential risk factors in reclaimed water were examined by subchronic exposure with fractionated reclaimed water,and the health risk threshold was tested with a series of diluted reclaimed ***,following a 12-week exposure,macromolecules and microorganisms were found to be two major risk factors in reclaimed water that could cause pulmonary infammation,including increased proportion of polymorphonuclear leukocytes in bronchoalveolar fuid,formation of inducible bronchus-associated lymphoid tissue,and elevation of Immunoglobulin A ***,infammation persisted after a 4-week recovery *** calculated threshold of reclaimed water exposure for mice was 31.8 Endotoxin Unit(EU)/(kg·day)under when exposed to 50%additional relative humidity from reclaimed water at 25℃ for 2 hr/***,the subchronic threshold estimate for humans under the same exposure conditions was found to be 12.2 EU/(kg·day),corresponding to endotoxin levels of 61.7 EU/mL in reclaimed *** threshold level of endotoxin was lower than that in most non-potable reclaimed *** findings of this study suggest that occupational exposure of reclaimed water can serve as a potential risk to workers.

关键词： Reclaimed water Inhalation exposure Risk factor Threshold Infammation Endotoxin

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Superior synergistic oxidation resistance of medium-entropy carbide ceramic powders rather than multi-phase carbide ceramic powders

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Journal of Advanced Ceramics 2024年第8期13卷 1223-1233页

作者： Jiachen Li Fanyu Lu Tao Li Yanqin Fu Junhao Zhao Junshuai Lv Yulei Zhang Shaanxi key laboratory of Fiber Reinforced Light Composite Materials State Key Laboratory of Solidification ProcessingNorthwestern Polytechnical UniversityXi'an 710072China

To date,some questions about medium-entropy carbide ceramics and the corresponding multi-phase carbide ceramics with the same cations and proportions remain *** oxidation behavior,do both have synergistic oxidation abilities and what role does entropy stabilization play in medium-entropy carbides?In this work,the oxidation behaviors of HfC-ZrC-TiC multi-phase carbide(HZT-MPC)and(Hf_(1/3)Zr_(1/3)Ti_(1/3))C medium-entropy carbide(HZT-MEC)powders were *** thermogravimetry(TG)oxidation,the TG curve of HZT-MPC had a bimodal ***"preferential oxidation"of HfC/ZrC occurred within HZT-MPC,followed by the formation of multi-phase oxides(HfO_(2),ZrO_(2),and TiO_(2)).The uneven compositional distribution slowed their solid solution reactions to form Ti-doped(Hf,Zr)O_(2) and(Hf,Zr)TiO_(4).The TG curve of HZT-MEC had a single peak.A uniform compositional distribution at the atomic scale promoted the rapid interdiffusion of oxides,forming Ti-doped(Hf,Zr)O_(2) and(Hf,Zr)TiO_(4) without ZrO_(2),HfO_(2),and TiO_(2) after TG ***,HZT-MEC had a higher onset oxidation temperature(To;470℃)than did HZT-MPC(430℃),and the TG single peak of HZT-MEC was between the TG bimodal peaks of ***,HZT-MEC showed superior oxidation resistance compared to HZT-MPC,which was attributed to the entropy stabilization effect of HZT-MEC suppressing the"preferential oxidation"of HfC/ZrC and the"delayed oxidation"of TiC,promoting the synergistic oxidation ability of multiple principal elements.

关键词： medium-entropy carbide multi-phase carbide synergistic oxidation ability oxidation resistance

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Unraveling the mysteries of volatile cycling and habitability on Earth and beyond

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National Science Review 2024年第6期11卷 8-9页

作者： Yi-Gang Xu Ri-Xiang Zhu Min-Han Dai state key laboratory of Isotope Geochemistry Guangzhou Institute of Geochemistry Chinese Academy of Sciences state key laboratory of Lithosphere Evolution Institute of Geology and Geophysics Chinese Academy of Sciences state key laboratory of Marine Environmental Science Xiamen University

The origin and cycling of volatiles, including water, carbon dioxide, and nitrogen, are fundamental to the very existence of habitable planets. These volatile compounds, often taken for granted,are the lifeblood of planetary systems, influencing almost everything from atmospheric composition and climate regulation to deep Earth processes and the emergence of life.

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Wear behavior of copper material removal during fluid jet polishing:A comparative study between experiment and simulation

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Friction 2024年第8期12卷 1680-1695页

作者： Wenjing ZHANG Xin ZHANG Tiancheng AI Dan GUO Guoshun PAN state key laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China Guangdong Provincial key laboratory of Optomechatronics Shenzhen 518057China

As a crucial part in micro-electromechanical manufacture,local ultra-precision processing of highly ductile copper is expected to be realized by fluid jet polishing(FJP),which widely utilized in optical *** copper exhibits different wear behavior from stiff and brittle material,there is currently no abrasive wear prediction model applicable for copper to investigate the polishing *** research reveals that the copper material removal is dominated by deformation wear rather than cutting wear through abrasive jet impact experiments and localized wear scars analysis.A three-dimensional gas-liquid-particle triphasic wear model for copper in FJP is developed by considering impact energy and wear mechanism ***,validation assessments at various working pressures and impingement angles achieve the goodness-of-fit up to 0.92–0.97 in quantitative comparison between simulations and experimental measurements,which demonstrate the wear prediction ability of the proposed *** investigation facilitates a better understanding of copper wear mechanism and provides theoretical guidance for FJP process optimization.

关键词： fluid jet polishing(FJP) wear mechanism computational fluid mechanics wear model material removal

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Design and Control of an Autonomous Bat-like Perching UAV

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Journal of Bionic Engineering 2024年第3期21卷 1253-1264页

作者： Long Bai Wei Wang Xiaohong Chen Yuanxi Sun state key laboratory of Mechanical Transmission Chongqing UniversityChongqing400044China

Perching allows small Unmanned Aerial Vehicles(UAVs)to maintain their altitude while significantly extending their flight duration and reducing ***,current research on flying habitats is poorly adapted to unstructured environments,and lacks autonomous capabilities,requiring ideal experimental environments and remote control by *** solve these problems,in this paper,we propose a bat-like UAV perching mechanism by investigating the bat upside-down perching method,which realizes double self-locking in the perching state using the ratchet and four-link dead point *** on this perching mechanism,this study proposes a control strategy for UAVs to track targets and accomplish flight perching autonomously by combining a binocular camera,single-point LiDAR,and pressure *** perching experiments were conducted for crossbar-type objects *** experimental results show that a multirotor UAV equipped with the perching mechanism and sensors can reliably achieve autonomous flight perching and re-flying off the target *** power consumption is reduced to 2.9%of the hovering state when perched on the target object.

关键词： Bio-inspired design Perching mechanism UAV Autonomous flight

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Mechanical properties and interfacial characteristics of 6061 Al alloy plates fabricated by hot-roll bonding

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International Journal of Minerals,Metallurgy and Materials 2024年第8期31卷 1890-1899页

作者： Zongan Luo Xin Zhang Zhaosong Liu Hongyu Zhou Mingkun Wang Guangming Xie state key laboratory of Rolling and Automation Northeastern UniversityShenyang 110819China

This work aims to investigate the mechanical properties and interfacial characteristics of 6061 Al alloy plates fabricated by hotroll bonding(HRB)based on friction stir *** results showed that ultimate tensile strength and total elongation of the hot-rolled and aged joints increased with the packaging vacuum,and the tensile specimens fractured at the matrix after exceeding 1 ***-equilibrium grain boundaries were formed at the hot-rolled interface,and a large amount of Mg_(2)Si particles were linearly precipitated along the interfacial grain boundaries(IGBs).During subsequent heat treatment,Mg_(2)Si particles dissolved back into the matrix,and Al_(2)O_(3) film remaining at the interface eventually evolved into *** addition,the local IGBs underwent staged elimination during HRB,which facilitated the interface healing due to the fusion of grains at the *** process was achieved by the dissociation,emission,and annihilation of dislocations on the IGBs.

关键词： 6061 Al alloy hot-roll bonding vacuum mechanical properties interfacial grain boundaries

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Flexible, thermal processable, self-healing, and fully bio-based starch plastics by constructing dynamic imine network

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Green Energy & Environment 2024年第10期9卷 1610-1618页

作者： Xiaoqian Zhang Haishan Zhang Guowen Zhou Zhiping Su Xiaohui Wang state key laboratory of Pulp and Paper Engineering South China University of Technology

The serious environmental threat caused by petroleum-based plastics has spurred more researches in developing substitutes from renewable *** is desirable for fabricating bioplastic due to its abundance and renewable ***,limitations such as brittleness,hydrophilicity,and thermal properties restrict its widespread *** overcome these issues,covalent adaptable network was constructed to fabricate a fully bio-based starch plastic with multiple advantages via Schiff base *** strategy endowed starch plastic with excellent thermal processability,as evidenced by a low glass transition temperature （Tg=20.15℃）.Through introducing Priamine with long carbon chains,the starch plastic demonstrated superior flexibility （elongation at break=45.2%） and waterproof capability （water contact angle=109.2°）.Besides,it possessed a good thermal stability and self-adaptability,as well as solvent resistance and chemical *** work provides a promising method to fabricate fully bio-based plastics as alternative to petroleum-based plastics.

关键词： Bioplastic Covalent adaptable networks Schiff base chemistry Thermal processability Self-healing

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Oilfield analogy and productivity prediction based on machine learning: Field cases in PL oilfield, China

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Petroleum Science 2024年第4期21卷 2554-2570页

作者： Wen-Peng Bai Shi-Qing Cheng Xin-Yang Guo Yang Wang Qiao Guo Chao-Dong Tan state key laboratory of Petroleum Resources and Engineering China University of Petroleum (Beijing)

In the early time of oilfield development, insufficient production data and unclear understanding of oil production presented a challenge to reservoir engineers in devising effective development plans. To address this challenge, this study proposes a method using data mining technology to search for similar oil fields and predict well productivity. A query system of 135 analogy parameters is established based on geological and reservoir engineering research, and the weight values of these parameters are calculated using a data algorithm to establish an analogy system. The fuzzy matter-element algorithm is then used to calculate the similarity between oil fields, with fields having similarity greater than 70% identified as similar oil fields. Using similar oil fields as sample data, 8 important factors affecting well productivity are identified using the Pearson coefficient and mean decrease impurity（MDI） method. To establish productivity prediction models, linear regression（LR）, random forest regression（RF）, support vector regression（SVR）, backpropagation（BP）, extreme gradient boosting（XGBoost）, and light gradient boosting machine（Light GBM） algorithms are used. Their performance is evaluated using the coefficient of determination（R2）, explained variance score（EV）, mean squared error（MSE）, and mean absolute error（MAE） metrics. The Light GBM model is selected to predict the productivity of 30 wells in the PL field with an average error of only 6.31%, which significantly improves the accuracy of the productivity prediction and meets the application requirements in the field. Finally, a software platform integrating data query,oil field analogy, productivity prediction, and knowledge base is established to identify patterns in massive reservoir development data and provide valuable technical references for new reservoir development.

关键词： Data mining technique Analogy parameters Oilfield analogy Productivity prediction Software platform

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