Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
The effects of metallic material on the penetration resistances of ceramic-metal hybrid structures against vertical long-rod tungsten projectiles were studied by artillery-launched experiments and numerical simulation...The effects of metallic material on the penetration resistances of ceramic-metal hybrid structures against vertical long-rod tungsten projectiles were studied by artillery-launched experiments and numerical simulation.Hybrid structures with rectangular cores in transverse orthogonal arrangement and slidefitting ceramic inserts of zirconia toughened alumina prisms were fabricated with titanium alloy TC4(Ti6 Al4 V),AISI 4340 steel and 7075 aluminum alloy panels,respectively.The results showed that the hybrid structure of Ti6A14V exhibited the highest penetration resistance,followed by that of 7075 aluminum alloy with the same area density.The penetration resistance of the hybrid structure of AISI4340 steel was the lowest.The underlying mechanisms showed that the metallic material of a ceramicmetal hybrid structure can directly affect its energy absorption from the impact projectile,which further affects its penetration resistance.Different metallic frames exhibited different failure characteristics,resulting in different constraint conditions or support conditions for ceramic prisms.The high penetration resistance of the Ti6Al4V hybrid structure was due to its stronger back support to ceramic prisms as compared with that of AISI 4340 steel hybrid structure,and better constraint condition for ceramic prisms by metallic webs as compared with that of 7075 aluminum alloy hybrid structure.The results of mass efficiency and thickness efficiency showed that the Ti6Al4V hybrid structure has advantages in reducing both the thickness and the mass of protective structure.In addition,because the ceramic-metal hybrid structures in the present work were heterogeneous,impact position has slight influence on their penetration resistances.展开更多
In order to analyze the influence rule of experimental parameters on the energy-absorption characteristics and effectively forecast energy-absorption characteristic of thin-walled structure, the forecast model of GA-B...In order to analyze the influence rule of experimental parameters on the energy-absorption characteristics and effectively forecast energy-absorption characteristic of thin-walled structure, the forecast model of GA-BP hybrid algorithm was presented by uniting respective applicability of back-propagation artificial neural network （BP-ANN） and genetic algorithm （GA）. The detailed process was as follows. Firstly, the GA trained the best weights and thresholds as the initial values of BP-ANN to initialize the neural network. Then, the BP-ANN after initialization was trained until the errors converged to the required precision. Finally, the network model, which met the requirements after being examined by the test samples, was applied to energy-absorption forecast of thin-walled cylindrical structure impacting. After example analysis, the GA-BP network model was trained until getting the desired network error only by 46 steps, while the single BP-ANN model achieved the same network error by 992 steps, which obviously shows that the GA-BP hybrid algorithm has faster convergence rate. The average relative forecast error （ARE） of the SEA predictive results obtained by GA-BP hybrid algorithm is 1.543%, while the ARE of the SEA predictive results obtained by BP-ANN is 2.950%, which clearly indicates that the forecast precision of the GA-BP hybrid algorithm is higher than that of the BP-ANN.展开更多
Supercapacitors are gaining popularity due to their high cycling stability,power density,and fast charge and discharge rates.Researchers are ex-ploring electrode materials,electrolytes,and separat-ors for cost-effecti...Supercapacitors are gaining popularity due to their high cycling stability,power density,and fast charge and discharge rates.Researchers are ex-ploring electrode materials,electrolytes,and separat-ors for cost-effective energy storage systems.Ad-vances in materials science have led to the develop-ment of hybrid nanomaterials,such as combining fil-amentous carbon forms with inorganic nanoparticles,to create new charge and energy transfer processes.Notable materials for electrochemical energy-stor-age applications include MXenes,2D transition met-al carbides,and nitrides,carbon black,carbon aerogels,activated carbon,carbon nanotubes,conducting polymers,carbon fibers,and nanofibers,and graphene,because of their thermal,electrical,and mechanical properties.Carbon materials mixed with conducting polymers,ceramics,metal oxides,transition metal oxides,metal hydroxides,transition metal sulfides,trans-ition metal dichalcogenide,metal sulfides,carbides,nitrides,and biomass materials have received widespread attention due to their remarkable performance,eco-friendliness,cost-effectiveness,and renewability.This article explores the development of carbon-based hybrid materials for future supercapacitors,including electric double-layer capacitors,pseudocapacitors,and hy-brid supercapacitors.It investigates the difficulties that influence structural design,manufacturing(electrospinning,hydro-thermal/solvothermal,template-assisted synthesis,electrodeposition,electrospray,3D printing)techniques and the latest car-bon-based hybrid materials research offer practical solutions for producing high-performance,next-generation supercapacitors.展开更多
A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian...A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.展开更多
线纹尖塘鳢(Oxyeleotris lineolata)具有典型性别生长二态性,雄鱼生长优势显著,doublesex and mab-3 related transcription factor(DMRT)家族是一个与性别决定相关的转录因子家族。基于线纹尖塘鳢性腺转录组数据,共获得2个dmrt基因的c...线纹尖塘鳢(Oxyeleotris lineolata)具有典型性别生长二态性,雄鱼生长优势显著,doublesex and mab-3 related transcription factor(DMRT)家族是一个与性别决定相关的转录因子家族。基于线纹尖塘鳢性腺转录组数据,共获得2个dmrt基因的cDNA序列,分别命名为Oxldmrt1和Oxldmrt3,并采用PCR技术扩增验证2个基因的cDNA序列。运用生物信息学方法分析2个基因序列结构特征,结果显示,Oxldmrt1和Oxldmrt3开放阅读框分别为903 bp和1363 bp,分别编码300个氨基酸和453个氨基酸;OxlDMRT1属于碱性蛋白,而OxlDMRT3属于酸性蛋白;2个基因均含有高度保守的DM结构域,OxlDMRT3还存在DMA结构域。氨基酸聚类分析显示,脊椎动物不同DMRT家族都是独立聚类,OxlDMRT1属于DMRT1家族,OxlDMRT3属于DMRT3家族,DMRT1家族最先聚类,再和DMRT3家族聚类。利用实时荧光定量PCR技术(real-time quantitative PCR,RT-qPCR)分析2个dmrt基因在雌鱼和雄鱼8个组织的表达水平,结果显示,2个基因在精巢中的表达量均显著高于其他组织(P<0.01),Oxldmrt3在脑中也有少量表达;利用RT-qPCR分析2个dmrt基因在早期不同发育时期的表达谱,显示2个基因在受精卵中的表达量均最高,Oxldmrt1在眼囊期的表达量最低,而Oxldmrt3在出膜7 d时的表达量最低。利用荧光原位杂交(fluorescencein situhybridization,FISH)对2个基因在精巢中的表达进行定位,显示2个基因在精巢中表达部位一致,均在精原细胞中有较强的表达信号。综上所述,Oxldmrt1和Oxldmrt3均在线纹尖塘鳢性腺胚胎发育阶段和精巢发育过程中起调节作用,而Oxldmrt1还可能参与胚胎后期性别决定和性别分化调控过程,Oxldmrt3还可能参与神经系统发育。本研究为线纹尖塘鳢性别决定与性别分化相关的分子机制研究提供了参考。展开更多
连接节点的设计是保证木-混凝土混合结构中两种材料协同工作的基础.为研究常用工程木-混凝土螺栓连接节点的力学性能及破坏模式,分别选用正交胶合木(Crosslaminated timber,CLT)-混凝土螺栓连接和云杉-松木-冷杉(Spruce Pine Fir,SPF)...连接节点的设计是保证木-混凝土混合结构中两种材料协同工作的基础.为研究常用工程木-混凝土螺栓连接节点的力学性能及破坏模式,分别选用正交胶合木(Crosslaminated timber,CLT)-混凝土螺栓连接和云杉-松木-冷杉(Spruce Pine Fir,SPF)规格材-混凝土螺栓连接作为试验对象,设计了27组单调加载试验和低周往复加载试验,归纳并对比了两类木-混凝土螺栓连接的典型破坏模式.结果表明:木-混凝土螺栓连接节点承载力大小与螺栓屈服模式相关,CLT-混凝土螺栓连接相较于SPF-混凝土螺栓连接更易发生双铰破坏,且CLT-混凝土螺栓连接具有更好的延性.基于对两类连接力学性能差异的影响机理分析,考虑钢垫板对承载力的影响,并引入CLT等效截面,提出了木-混凝土螺栓连接的承载力力学模型.计算结果与试验结果对比的平均误差为12.18%,表明计算值与试验值吻合良好,可为木-混凝土螺栓连接的设计与应用提供参考.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
基金the support received from the National Natural Science Foundation of China(No.11872121)。
文摘The effects of metallic material on the penetration resistances of ceramic-metal hybrid structures against vertical long-rod tungsten projectiles were studied by artillery-launched experiments and numerical simulation.Hybrid structures with rectangular cores in transverse orthogonal arrangement and slidefitting ceramic inserts of zirconia toughened alumina prisms were fabricated with titanium alloy TC4(Ti6 Al4 V),AISI 4340 steel and 7075 aluminum alloy panels,respectively.The results showed that the hybrid structure of Ti6A14V exhibited the highest penetration resistance,followed by that of 7075 aluminum alloy with the same area density.The penetration resistance of the hybrid structure of AISI4340 steel was the lowest.The underlying mechanisms showed that the metallic material of a ceramicmetal hybrid structure can directly affect its energy absorption from the impact projectile,which further affects its penetration resistance.Different metallic frames exhibited different failure characteristics,resulting in different constraint conditions or support conditions for ceramic prisms.The high penetration resistance of the Ti6Al4V hybrid structure was due to its stronger back support to ceramic prisms as compared with that of AISI 4340 steel hybrid structure,and better constraint condition for ceramic prisms by metallic webs as compared with that of 7075 aluminum alloy hybrid structure.The results of mass efficiency and thickness efficiency showed that the Ti6Al4V hybrid structure has advantages in reducing both the thickness and the mass of protective structure.In addition,because the ceramic-metal hybrid structures in the present work were heterogeneous,impact position has slight influence on their penetration resistances.
基金Project(50175110) supported by the National Natural Science Foundation of ChinaProject(2009bsxt019) supported by the Graduate Degree Thesis Innovation Foundation of Central South University, China
文摘In order to analyze the influence rule of experimental parameters on the energy-absorption characteristics and effectively forecast energy-absorption characteristic of thin-walled structure, the forecast model of GA-BP hybrid algorithm was presented by uniting respective applicability of back-propagation artificial neural network （BP-ANN） and genetic algorithm （GA）. The detailed process was as follows. Firstly, the GA trained the best weights and thresholds as the initial values of BP-ANN to initialize the neural network. Then, the BP-ANN after initialization was trained until the errors converged to the required precision. Finally, the network model, which met the requirements after being examined by the test samples, was applied to energy-absorption forecast of thin-walled cylindrical structure impacting. After example analysis, the GA-BP network model was trained until getting the desired network error only by 46 steps, while the single BP-ANN model achieved the same network error by 992 steps, which obviously shows that the GA-BP hybrid algorithm has faster convergence rate. The average relative forecast error （ARE） of the SEA predictive results obtained by GA-BP hybrid algorithm is 1.543%, while the ARE of the SEA predictive results obtained by BP-ANN is 2.950%, which clearly indicates that the forecast precision of the GA-BP hybrid algorithm is higher than that of the BP-ANN.
文摘Supercapacitors are gaining popularity due to their high cycling stability,power density,and fast charge and discharge rates.Researchers are ex-ploring electrode materials,electrolytes,and separat-ors for cost-effective energy storage systems.Ad-vances in materials science have led to the develop-ment of hybrid nanomaterials,such as combining fil-amentous carbon forms with inorganic nanoparticles,to create new charge and energy transfer processes.Notable materials for electrochemical energy-stor-age applications include MXenes,2D transition met-al carbides,and nitrides,carbon black,carbon aerogels,activated carbon,carbon nanotubes,conducting polymers,carbon fibers,and nanofibers,and graphene,because of their thermal,electrical,and mechanical properties.Carbon materials mixed with conducting polymers,ceramics,metal oxides,transition metal oxides,metal hydroxides,transition metal sulfides,trans-ition metal dichalcogenide,metal sulfides,carbides,nitrides,and biomass materials have received widespread attention due to their remarkable performance,eco-friendliness,cost-effectiveness,and renewability.This article explores the development of carbon-based hybrid materials for future supercapacitors,including electric double-layer capacitors,pseudocapacitors,and hy-brid supercapacitors.It investigates the difficulties that influence structural design,manufacturing(electrospinning,hydro-thermal/solvothermal,template-assisted synthesis,electrodeposition,electrospray,3D printing)techniques and the latest car-bon-based hybrid materials research offer practical solutions for producing high-performance,next-generation supercapacitors.
文摘A novel hybrid visual servoing control method based on structured light vision is pro-posed for robotic arc welding with a general six degrees of freedom robot. It consists of a positioncontrol inner-loop in Cartesian space and two outer-loops. One is position-based visual control inCartesian space for moving in the direction of weld seam, i.e., weld seam tracking, another is image-based visual control in image space for adjustment to eliminate the errors in the process of tracking.A new Jacobian matrix from image space of the feature point on structured light stripe to Cartesianspace is provided for dierential movement of the end-e?ector. The control system model is simplifiedand its stability is discussed. An experiment of arc welding protected by gas CO2 for verifying iswell conducted.
文摘连接节点的设计是保证木-混凝土混合结构中两种材料协同工作的基础.为研究常用工程木-混凝土螺栓连接节点的力学性能及破坏模式,分别选用正交胶合木(Crosslaminated timber,CLT)-混凝土螺栓连接和云杉-松木-冷杉(Spruce Pine Fir,SPF)规格材-混凝土螺栓连接作为试验对象,设计了27组单调加载试验和低周往复加载试验,归纳并对比了两类木-混凝土螺栓连接的典型破坏模式.结果表明:木-混凝土螺栓连接节点承载力大小与螺栓屈服模式相关,CLT-混凝土螺栓连接相较于SPF-混凝土螺栓连接更易发生双铰破坏,且CLT-混凝土螺栓连接具有更好的延性.基于对两类连接力学性能差异的影响机理分析,考虑钢垫板对承载力的影响,并引入CLT等效截面,提出了木-混凝土螺栓连接的承载力力学模型.计算结果与试验结果对比的平均误差为12.18%,表明计算值与试验值吻合良好,可为木-混凝土螺栓连接的设计与应用提供参考.
