Reinforcement learning(RL)provides much potential for locomotion of legged robot.Due to the gap between simulation and the real world,achieving sim-to-real for legged robots is challenging.However,the support polygon ...Reinforcement learning(RL)provides much potential for locomotion of legged robot.Due to the gap between simulation and the real world,achieving sim-to-real for legged robots is challenging.However,the support polygon of legged robots can help to overcome some of these challenges.Quadruped robot has a considerable support polygon,followed by bipedal robot with actuated feet,and point-footed bipedal robot has the smallest support polygon.Therefore,despite the existing sim-to-real gap,most of the recent RL approaches are deployed to the real quadruped robots that are inherently more stable,while the RL-based locomotion of bipedal robot is challenged by zero-shot sim-to-real task.Especially for the point-footed one that gets better dynamic performance,the inevitable tumble brings extra barriers to sim-to-real task.Actually,the crux of this type of problem is the difference of mechanics properties between the physical robot and the simulated one,making it difficult to play the learned skills well on the physical bipedal robot.In this paper,we introduce the embedded mechanics properties(EMP)based on the optimization with Gaussian processes to RL training,making it possible to perform sim-to-real transfer on the BRS1-P robot used in this work,hence the trained policy can be deployed on the BRS1-P without any struggle.We validate the performance of the learning-based BRS1-P on the condition of disturbances and terrains not ever learned,demonstrating the bipedal locomotion and resistant performance.展开更多
Dissimilar AZ31B magnesium alloy and DC56D steel were welded via AA1060 aluminum alloy by magnetic pulse welding.The effects of primary and secondary welding processes on the welded interface were comparatively invest...Dissimilar AZ31B magnesium alloy and DC56D steel were welded via AA1060 aluminum alloy by magnetic pulse welding.The effects of primary and secondary welding processes on the welded interface were comparatively investigated.Macroscopic morphology,microstructure,and interfacial structure of the joints were analyzed using scanning electron microscope,energy dispersive spectrometer,and X-ray diffractometer(XRD).The results show that magnetic pulse welding of dissimilar Mg/Fe metals is achieved using an Al interlayer,which acts as a bridge for deformation and diffusion.Specifically,the AZ31B/AA1060 interface exhibits a typical wavy morphology,and a transition zone exists at the joint interface,which may result in an extremely complex microstructure.The microstructure of this transition zone differs from that of AZ31B magnesium and 1060 Al alloys,and it is identified as brittle intermetallic compounds(IMCs)Al_(3)Mg_(2) and Al_(12)Mg_(17).The transition zone is mainly distributed on the Al side,with the maximum thickness of Al-side transition layer reaching approximately 13.53μm.Incomplete melting layers with varying thicknesses are observed at the primary weld interface,while micron-sized hole defects appear in the transition zone of the secondary weld interface.The AA1060/DC56D interface is mainly straight,with only a small number of discontinuous transition zones distributed intermittently along the interface.These transition zones are characterized by the presence of the brittle IMC FeAl_(3),with a maximum thickness of about 4μm.展开更多
Laser powder bed fusion(LPBF)is highly suitable for forming 18Ni300 mold steel,thanks to its excellent capability in manufacturing complex shapes and outstanding capacity for regulating microstructures.It is widely us...Laser powder bed fusion(LPBF)is highly suitable for forming 18Ni300 mold steel,thanks to its excellent capability in manufacturing complex shapes and outstanding capacity for regulating microstructures.It is widely used in fields such as injection molding,die casting,and stamping dies.Adding reinforcing particles into steel is an effective means to improve its performance.Nb/18Ni300 composites were fabricated by LPBF using two kinds of Nb powders with different particle sizes,and their microstructures and properties were studied.The results show that the unmelted Nb particles are uniformly distributed in the 18Ni300 matrix and the grains are refined,which is particularly pronounced with fine Nb particles.In addition,element diffusion occurs between the particles and the matrix.The main phases of the base alloy are α-Fe and a small amount of γ-Fe.With the addition of Nb,part of the α-Fe is transformed into γ-Fe,and unmelted Nb phases appear.The addition of Nb also enhances the hardness and wear resistance of the composites but slightly reduces their tensile properties.After aging treatment,the molten pools and grain boundaries become blurred,grains are further refined,and the interfaces around the particles are thinned.The aging treatment also promotes the formation of reverted austenite.The hardness,ultimate tensile strength,and volumetric wear rate of the base alloy reach 51.9 HRC,1704 MPa,and 17.8×10^(-6) mm^(3)/(N·m),respectively.In contrast,the sample added with fine Nb particles has the highest hardness(56.1 HRC),ultimate tensile strength(1892 MPa)and yield strength(1842 MPa),and the volume wear rate of the sample added with coarse Nb particles is reduced by 90%to 1.7×10^(-6) mm^(3)/(N·m).展开更多
Silicon carbide fibers are considered ideal reinforcing materials for ceramic matrix composites due to their excellent mechanical properties and high-temperature performance.Different types of fibers necessitate indiv...Silicon carbide fibers are considered ideal reinforcing materials for ceramic matrix composites due to their excellent mechanical properties and high-temperature performance.Different types of fibers necessitate individual investigation due to variations in their composition and fabrication processes.This study presents a comprehensive investigation into evolution of the mechanical properties,surface microstructure,and composition of Shicolon-Ⅱ fibers subjected to argon heat treatment at temperatures ranging from 1300℃to 1700℃.The Shicolon-Ⅱ fibers are composed of small-sized β-SiC grains,SiC_(x)O_(y) amorphous phase,and a minor amount of graphite microcrystals.Following treatment in an argon atmosphere at 1300℃,the fibers maintain a monofilament tensile strength of 3.620 GPa,corresponding to a retention of 98.32%.This strength diminishes to 2.875 GPa,equating to a retention of 78.08%,after treatment at 1500℃.The reduction in mechanical properties of the fibers can be ascribed to the decomposition of the amorphous phase and the growth of β-SiC grains.Furthermore,creep resistance is an essential factor influencing the long-term performance of composite materials.After treatment at temperatures above 1400℃,the high-temperature creep resistance of the fibers is significantly enhanced due to growth of β-SiC grains.This study offers valuable theoretical insights into high-temperature applications of second-generation fibers,contributing to an enhanced understanding of their performance under extreme conditions.展开更多
The TiB+TiC dual-reinforced B_(4)C/TC4 composite was in-situ fabricated via incorporating 0.5wt%B_(4)C reinforcement during the laser melting deposition process.Different heat treatments of annealing and solid solutio...The TiB+TiC dual-reinforced B_(4)C/TC4 composite was in-situ fabricated via incorporating 0.5wt%B_(4)C reinforcement during the laser melting deposition process.Different heat treatments of annealing and solid solution were used to regulate the microstructure,mechanical properties,and corrosion properties of B_(4)C/TC4 composite.Results show that with the increase in temperature from 500℃to 800°C,partial lamellarα-Ti in the as-deposited sample is gradually transformed into equiaxedα-Ti,accompanied by the disappearance of basketweave microstructure.At 1100°C,a small portion of TiC phase suffers fusion.This composite exhibits the optimal combination of strength and plasticity after annealing at 500℃for 4 h followed by furnace cooling,which is attributed to the stress release effect and the refined basketweave microstructure.However,this composite shows a decline in corrosion resistance after various heat treatments due to grain coarsening and micro-galvanic corrosion.展开更多
Copper manufactured by laser powder bed fusion(LPBF)process typically exhibits poor strength-ductility coordination,and the addition of strengthening phases is an effective way to address this issue.To explore the eff...Copper manufactured by laser powder bed fusion(LPBF)process typically exhibits poor strength-ductility coordination,and the addition of strengthening phases is an effective way to address this issue.To explore the effects of strengthening phases on Cu,Cu-carbon nanotubes(CNTs)composites were prepared using LPBF technique with Cu-CNTs mixed powder as the matrix.The formability,microstructure,mechanical properties,electrical conductivity,and thermal properties were studied.The result shows that the prepared composites have high relative density.The addition of CNTs results in inhomogeneous equiaxed grains at the edges of the molten pool and columnar grains at the center.Compared with pure copper,the overall mechanical properties of the composite are improved:tensile strength increases by 52.8%and elongation increases by 146.4%;the electrical and thermal properties are also enhanced:thermal conductivity increases by 10.8%and electrical conductivity increases by 12.7%.展开更多
The Cu-12Fe alloy has attracted significant attention due to its excellent electrical conductivity and electromagnetic shielding capability,high strength,cost-effectiveness,and recyclability.In the present work,the Cu...The Cu-12Fe alloy has attracted significant attention due to its excellent electrical conductivity and electromagnetic shielding capability,high strength,cost-effectiveness,and recyclability.In the present work,the Cu-12Fe alloy strip with the thickness of 2.4 mm was successfully produced by twin-roll strip casting.The microstructure and properties of the Cu-12Fe alloy were tailored by cold rolling and aging treatment.The tensile strength of the as-cast strip is approximately 328 MPa and its elongation is 25%.The Fe phase randomly dispersed in the matrix,and the average size of Fe-rich phase is 2μm.Besides,enrichment of Fe phase is observed in the central layer of the strip,results in the formation of the“sandwich structure”.Moreover,the as-cast strip of Cu-12Fe was directly cold-rolled from 2.4 to 0.12 mm.The directly cold-rolled sample after aging at 450℃for 16 h(ProcessⅠ)shows excellent electrical conductivity of 69.5%IACS,the tensile strength and elongation are 513 MPa and 3.8%,the saturation magnetic flux density is 20.1 emu·g^(-1),and the coercive force is 25.2 Oe.In ProcessⅡ,the as-cast strip firstly cold-rolled to 1.2 mm,then aged at 500℃for 1.5 h,followed by cold rolling to 0.12 mm,finally aged at 450℃for 16 h.The sample after ProcessⅡshows the electrical conductivity of 66.3%IACS,the tensile strength of 533 MPa,an elongation of 3.5%,saturation magnetic flux density of 21.4 emu·g^(-1),and the coercive force of 22.3 Oe.展开更多
In the research of magnesium-based composites,the plasticity and strength of the materials are the most critical factors affecting their applications.In this paper,Ti particle-reinforced Mg-9Gd-4Y-2Mn-1Zn matrix compo...In the research of magnesium-based composites,the plasticity and strength of the materials are the most critical factors affecting their applications.In this paper,Ti particle-reinforced Mg-9Gd-4Y-2Mn-1Zn matrix composites were prepared by semi-solid stirring and hot extrusion processes.The main objective is to study the effects of different contents of spherical Ti particles(0,3,and 5wt%)on the microstructure,mechanical properties and wear resistance of the composites.The results show that the addition of Ti particles can form a good interface bond with the matrix,and refine the undeformed coarse grains in the material,which has a certain increase in the hardness,yield strength(YS),ultimate tensile strength(UTS)and elongation(EL)of the material.In addition,when subjected to friction grinding under a force of 100 N,compared with the matrix,the composite material reinforced with Ti particles shows a lower wear rate and friction coefficient,demonstrates higher wear resistance,and can be applied in more fields.展开更多
The influences of silicon addition to commercially pure magnesium(CP Mg)and cooling rate during solidification on the as-cast microstructure and shear mechanical properties of Mg-Si alloys were systematically investig...The influences of silicon addition to commercially pure magnesium(CP Mg)and cooling rate during solidification on the as-cast microstructure and shear mechanical properties of Mg-Si alloys were systematically investigated.For this purpose,the Mg-0.6Si,Mg-1.34Si,and Mg-3Si(wt%)alloys were considered as hypoeutectic,eutectic,and hypereutectic alloys,respectively.By decreasing the geometrical modulus of the solidifying section(increasing cooling rate),remarkable grain refinement,refining the dendrite arm spacing(DAS),and modification of Mg_(2)Si particles were achieved.Moreover,the grain size was refined via Si addition in the hypoeutectic range,while coarsening of grain size at high Si concentrations was observed.The results of shear punch testing and hardness measurements demonstrated that the ultimate shear strength(USS)and hardness increased by increasing the cooling rate during solidification.Moreover,Si addition generally improved hardness,while the highest USS level was achieved for the eutectic alloy due to the fine grain size and strengthening effect of the eutectic constituent.However,regarding the hypereutectic Mg-3Si alloy that exhibited high hardness,the shear properties were inferior due to the detrimental effect of the primary Mg_(2)Si particles.Finally,the results were discussed with consideration of the relationship between strength and hardness,for which the critical effect of Si was clarified.展开更多
The strength-ductility trade-off in magnesium alloys remains a critical challenge urgently requiring resolution in their engineering applications.In this study,both mechanical and corrosion properties are enhanced in ...The strength-ductility trade-off in magnesium alloys remains a critical challenge urgently requiring resolution in their engineering applications.In this study,both mechanical and corrosion properties are enhanced in extruded Mg-Y-Nd-Zr alloys by Sm addition.Sm promotes dynamic recrystallization,activates non-basal slip systems and weakens basal texture intensity,leading to the sub-grain lamellar structure and rare earth texture.The EWS2 alloy exhibits an outstanding combination of high yield strength(328 MPa)and ductility(15.1%).Furthermore,the fragmented second phases in the Sm-containing alloy are uniformly distributed,reducing the subsequent corrosion driving force after micro-galvanic corrosion and facilitating the growth of a more passivating and compact corrosion film.These combined effects contribute to the lowest degradation rate in the EWS2 alloy.This study demonstrates the correlation between microstructure and properties in Sm-containing WE series alloys,providing insights for the design of other high performance magnesium alloys.展开更多
Cryogenic rolling impacts on microstructure and mechanical properties of spray-formed 7055(SF-7055)Al alloy were investigated.Results show that with the increase of the reduction from 20%to 80%,the grain of cryogenic ...Cryogenic rolling impacts on microstructure and mechanical properties of spray-formed 7055(SF-7055)Al alloy were investigated.Results show that with the increase of the reduction from 20%to 80%,the grain of cryogenic rolled SF-7055 Al alloy is elongated to form a fiber texture.Numerous proliferating dislocations in the microstructure accumulate into dislocation walls and cells,and eventually form subgrains.These subgrain boundaries divide the original grain,thereby reducing the grain size.Under severe deformation conditions,they even enable the formation of nanograins.Meanwhile,the Cu-rich precipitates in the matrix are also broken and refined under the action of large rolling stress.In the process of cryogenic rolling,the tensile strength and hardness of SF-7055 Al alloy gradually increase,while the plasticity decreases.Moreover,the fracture morphology of cryogenic rolled SF-7055 Al alloy gradually transforms to the ductile and quasi-cleavage hybrid fracture characteristics with increased reduction.展开更多
The microstructure of high Nb-TiAl alloys was optimized by the addition of a small amount of Ta elements to further improve their properties.A series of Ti46Al1.5Cr8Nb-xTa(x=0.2,0.4,0.6,0.8,1.0,at.%)alloys were prepar...The microstructure of high Nb-TiAl alloys was optimized by the addition of a small amount of Ta elements to further improve their properties.A series of Ti46Al1.5Cr8Nb-xTa(x=0.2,0.4,0.6,0.8,1.0,at.%)alloys were prepared by vacuum arc melting.The microstructure,mechanical properties,and related influencing mechanisms were systematically investigated.The results indicate that the solidification microstructure of the Ti46Al1.5Cr8Nb-xTa alloys comprises theγ-TiAl phase,α_(2)-Ti_(3)Al phase,and B2 phase.As the Ta content increases from 0.2 at.%to 1.0 at.%,the content ofα_(2)phase and B2 phase increases,while theγphase content decreases.Among them,the B2 phase shows the most pronounced change,being significantly refined,with its content increasing from 12.49%to 21.91%.In addition,the average size of the lamellar colony decreases from 160.65 to 94.44μm.The addition of the Ta element shifts the solidification path toward lower aluminum concentrations,leading to changes in phase content.The tantalum-induced increase in the B2 phase and enhanced supercooling at the solidification front provide the basis for lamellar colony refinement.Compressive testing at room temperature reveals that the Ti46 Al1.5 Cr8 Nb0.4 Ta alloy exhibits optimal compressive properties,achieving a compressive strength of 2,434 MPa and a compressive strain of 33.1%.The improvement of its properties is attributed to a combination of lamellar colony refinement,solid solution strengthening resulting from the incorporation of Ta element,and a reduction in the c/a of theγphase.展开更多
Fissured rocks are prevalent in geotechnical engineering and can significantlyimpact the stability of engineering structures.Microbial-induced carbonate precipitation(MICP)technology provides an ecofriendly solution f...Fissured rocks are prevalent in geotechnical engineering and can significantlyimpact the stability of engineering structures.Microbial-induced carbonate precipitation(MICP)technology provides an ecofriendly solution for repairing fissuredrocks.To optimize repair effectiveness,this study firstinvestigated the effects of environmental factors on bacterial growth,urease activity,and calcium carbonate yield.The optimal MICP scheme was determined to be a pH of 9,a temperature of 25℃,and a cementation solution concentration of 0.5 mol/L.Subsequently,the sandstone specimens with various fissureapertures were repaired using MICP with different bacterial concentrations.Dynamic tests were carried out on the repaired specimens using a split Hopkinson pressure bar system.The experimental results indicate that the dynamic strength of the MICP-repaired specimens positively correlates with strain rate,but decreases with increasing bacterial concentration and fissureaperture.These factors have little effect on the progressive failure behavior.Surface cracks were mainly compression-shear cracks in the repair area and tensile-shear cracks at the end of the specimen.Moreover,the crystal morphology observed by scanning electron microscope indicates that MICP primarily produces vaterite crystals,and lower bacterial concentrations favor the formation of more stable calcite crystals,thereby enhancing the cementitious properties.Furthermore,X-ray computed tomography demonstrates an uneven distribution of calcium carbonate within fissures,with higher fillingrates observed at the injection end and at the bottom of the fissures.Lower bacterial concentrations and smaller fissureapertures are conducive to more uniform distribution and increased fillingrate of calcium carbonate,with fissureaperture exerting a more dominant influence.展开更多
The commercial AM60(Mg−6Al−0.3Mn)die-casting alloy was modified through Mn,Ce,and La micro-alloying,each at a content below 0.2 wt.%.SEM,TEM,and Micro-CT were employed to characterize the microstructures and propertie...The commercial AM60(Mg−6Al−0.3Mn)die-casting alloy was modified through Mn,Ce,and La micro-alloying,each at a content below 0.2 wt.%.SEM,TEM,and Micro-CT were employed to characterize the microstructures and properties of AM60 based alloys.AM60-0.2La alloy showed excellent mechanical properties.The ultimate tensile strength,yield strength,and elongation of(288.0±1.7)MPa,(158.0±1.0)MPa,and(22.0±3.0)%were achieved in AM60-0.2La alloy.Besides,AM60-0.2La alloy exhibited the best corrosion resistance(0.29 mm/a)and fluidity among the investigated four alloys.The excellent mechanical properties and corrosion resistance are mainly attributed to the grain refinement strengthening,low porosity,and low content of large shrinkage porosity,promising for super-sized integrated automotive components.展开更多
The composition−property relationship of 18 quaternary high entropy diborides(HEBs)consisting of boron and IVB,VB and VIB transition metals(TM)was investigated using first-principles calculations.A valence electron co...The composition−property relationship of 18 quaternary high entropy diborides(HEBs)consisting of boron and IVB,VB and VIB transition metals(TM)was investigated using first-principles calculations.A valence electron concentration−relative electronegativity(VEC−REN)composite descriptor was developed to effectively predict the mechanical properties of HEBs.The results demonstrate that with a fixed VEC,the rise of the REN makes HEBs harder but more brittle when the electronegativity of doped TM atoms is lower than that of boron atoms.However,HEBs become softer and more ductile as REN increases if the doped TM atoms have higher electronegativity than boron atoms.The VEC−REN composite descriptor can accurately classify and predict the mechanical properties of HEBs with different components,which provides important theoretical guidance for the rapid design and development of novel high-entropy ceramic materials.展开更多
Utilization of ceramic wastes to fabricate concrete can not only effectively dispose the wastes,but also reduce the energy and source consumptions.Therefore,we fabricated a green ultra high performance concrete using ...Utilization of ceramic wastes to fabricate concrete can not only effectively dispose the wastes,but also reduce the energy and source consumptions.Therefore,we fabricated a green ultra high performance concrete using ceramic waste powder(CWP)to replace 55%of cement,and ceramic waste aggregate(CWA)to replace 100%natural quartz sand.However,high content of ceramic wastes will harm the concrete performance including workability and mechanical properties.Therefore,a low-cost and low carbon nano-calcium carbonate(NC)was introduced to compensate for the defects caused by large amounts of CWP and CWA to workability and mechanical behavior.The experimental results show that the workability of ultra high performance concrete with large amounts of CWP and CWA(UHPCLCC)increases by 28.57%with NC content of 5%.Moreover,the flexural strengths,fracture energy,compressive strengths,and compressive toughness of UHPCLCC increase up to 29.6%,56.5%,20.4%,and 37.6%,respectively,which is caused by the nano-core effect of NC.展开更多
A new method was proposed for preparing AZ31/1060 composite plates with a corrugated interface,which involved cold-pressing a corrugated surface on the Al plate and then hot-pressing the assembled Mg/Al plate.The resu...A new method was proposed for preparing AZ31/1060 composite plates with a corrugated interface,which involved cold-pressing a corrugated surface on the Al plate and then hot-pressing the assembled Mg/Al plate.The results show that cold-pressing produces intense plastic deformation near the corrugated surface of the Al plate,which promotes dynamic recrystallization of the Al substrate near the interface during the subsequent hot-pressing.In addition,the initial corrugation on the surface of the Al plate also changes the local stress state near the interface during hot pressing,which has a large effect on the texture components of the substrates near the corrugated interface.The construction of the corrugated interface can greatly enhance the shear strength by 2−4 times due to the increased contact area and the strong“mechanical gearing”effect.Moreover,the mechanical properties are largely depended on the orientation relationship between corrugated direction and loading direction.展开更多
Crushing waste coral concrete into recycled aggregates to create recycled coral aggregate concrete(RCAC)contributes to sustainable construction development on offshore islands and reefs.To investigate the impact of re...Crushing waste coral concrete into recycled aggregates to create recycled coral aggregate concrete(RCAC)contributes to sustainable construction development on offshore islands and reefs.To investigate the impact of recycled coral aggregate on concrete properties,this study performed a comprehensive analysis of the physical properties of recycled coral aggregate and the basic mechanical properties and microstructure of RCAC.The test results indicate that,compared to coral debris,the crushing index of recycled coral aggregate was reduced by 9.4%,while porosity decreased by 33.5%.Furthermore,RCAC retained the early strength characteristics of coral concrete,with compressive strength and flexural strength exhibiting a notable increase as the water-cement ratio decreased.Under identical conditions,the compressive strength and flexural strength of RCAC were 12.7% and 2.5% higher than coral concrete's,respectively,with porosity correspondingly reduced from 3.13% to 5.11%.This enhancement could be attributed to the new mortar filling the recycled coral aggregate.Scanning electron microscopy(SEM)analysis revealed three distinct interface transition zones within RCAC,with the‘new mortar-old mortar’interface identified as the weakest.The above findings provided a reference for the sustainable use of coral concrete in constructing offshore islands.展开更多
Cold deformation treatment of Cu-bearing stainless steel through a cold rolling process combined with electric pulse treatment(EPT)can significantly improve the microstructure and formability of cold-rolled Cu-bearing...Cold deformation treatment of Cu-bearing stainless steel through a cold rolling process combined with electric pulse treatment(EPT)can significantly improve the microstructure and formability of cold-rolled Cu-bearing stainless steel.The microstructure after EPT was characterized by scanning electron microscopy,transmission electron microscopy,and in-situ tensile testing.It is found that compared with conventional heat treatment,EPT process can significantly promote the nucleation rate and mobility at grain boundaries of the deformed samples,greatly accelerating the recovery and static recrystallization of Cu-bearing stainless steel samples at lower temperatures and contributing to the recovery of anisotropy and the re-molding of deformed samples.Microstructural characterization and theoretical analyses show that the rapid recrystallization during EPT process is caused not only by Joule heating effects but also by non-thermal effects that accelerate grain boundary migration and dislocation destruction and regeneration.In addition,EPT process significantly accelerated the nucleation and precipitation growth of Cu-rich phase.The coarsening of Cu-rich phase during EPT process is due to not only the high vacancy diffusion coefficient under the action of the electric pulse but also the increase in the vacancy diffusion flux induced by the electromigration in the process of the electric pulse.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant No.62073041,and in part by the“111”Project under Grant B08043.
文摘Reinforcement learning(RL)provides much potential for locomotion of legged robot.Due to the gap between simulation and the real world,achieving sim-to-real for legged robots is challenging.However,the support polygon of legged robots can help to overcome some of these challenges.Quadruped robot has a considerable support polygon,followed by bipedal robot with actuated feet,and point-footed bipedal robot has the smallest support polygon.Therefore,despite the existing sim-to-real gap,most of the recent RL approaches are deployed to the real quadruped robots that are inherently more stable,while the RL-based locomotion of bipedal robot is challenged by zero-shot sim-to-real task.Especially for the point-footed one that gets better dynamic performance,the inevitable tumble brings extra barriers to sim-to-real task.Actually,the crux of this type of problem is the difference of mechanics properties between the physical robot and the simulated one,making it difficult to play the learned skills well on the physical bipedal robot.In this paper,we introduce the embedded mechanics properties(EMP)based on the optimization with Gaussian processes to RL training,making it possible to perform sim-to-real transfer on the BRS1-P robot used in this work,hence the trained policy can be deployed on the BRS1-P without any struggle.We validate the performance of the learning-based BRS1-P on the condition of disturbances and terrains not ever learned,demonstrating the bipedal locomotion and resistant performance.
文摘Dissimilar AZ31B magnesium alloy and DC56D steel were welded via AA1060 aluminum alloy by magnetic pulse welding.The effects of primary and secondary welding processes on the welded interface were comparatively investigated.Macroscopic morphology,microstructure,and interfacial structure of the joints were analyzed using scanning electron microscope,energy dispersive spectrometer,and X-ray diffractometer(XRD).The results show that magnetic pulse welding of dissimilar Mg/Fe metals is achieved using an Al interlayer,which acts as a bridge for deformation and diffusion.Specifically,the AZ31B/AA1060 interface exhibits a typical wavy morphology,and a transition zone exists at the joint interface,which may result in an extremely complex microstructure.The microstructure of this transition zone differs from that of AZ31B magnesium and 1060 Al alloys,and it is identified as brittle intermetallic compounds(IMCs)Al_(3)Mg_(2) and Al_(12)Mg_(17).The transition zone is mainly distributed on the Al side,with the maximum thickness of Al-side transition layer reaching approximately 13.53μm.Incomplete melting layers with varying thicknesses are observed at the primary weld interface,while micron-sized hole defects appear in the transition zone of the secondary weld interface.The AA1060/DC56D interface is mainly straight,with only a small number of discontinuous transition zones distributed intermittently along the interface.These transition zones are characterized by the presence of the brittle IMC FeAl_(3),with a maximum thickness of about 4μm.
基金Key-Area Research and Development Program of Guangdong Province(2023B0909020004)Project of Innovation Research Team in Zhongshan(CXTD2023006)+1 种基金Natural Science Foundation of Guangdong Province(2023A1515011573)Zhongshan Social Welfare Science and Technology Research Project(2024B2022)。
文摘Laser powder bed fusion(LPBF)is highly suitable for forming 18Ni300 mold steel,thanks to its excellent capability in manufacturing complex shapes and outstanding capacity for regulating microstructures.It is widely used in fields such as injection molding,die casting,and stamping dies.Adding reinforcing particles into steel is an effective means to improve its performance.Nb/18Ni300 composites were fabricated by LPBF using two kinds of Nb powders with different particle sizes,and their microstructures and properties were studied.The results show that the unmelted Nb particles are uniformly distributed in the 18Ni300 matrix and the grains are refined,which is particularly pronounced with fine Nb particles.In addition,element diffusion occurs between the particles and the matrix.The main phases of the base alloy are α-Fe and a small amount of γ-Fe.With the addition of Nb,part of the α-Fe is transformed into γ-Fe,and unmelted Nb phases appear.The addition of Nb also enhances the hardness and wear resistance of the composites but slightly reduces their tensile properties.After aging treatment,the molten pools and grain boundaries become blurred,grains are further refined,and the interfaces around the particles are thinned.The aging treatment also promotes the formation of reverted austenite.The hardness,ultimate tensile strength,and volumetric wear rate of the base alloy reach 51.9 HRC,1704 MPa,and 17.8×10^(-6) mm^(3)/(N·m),respectively.In contrast,the sample added with fine Nb particles has the highest hardness(56.1 HRC),ultimate tensile strength(1892 MPa)and yield strength(1842 MPa),and the volume wear rate of the sample added with coarse Nb particles is reduced by 90%to 1.7×10^(-6) mm^(3)/(N·m).
基金National Natural Science Foundation of China(52172108)National Key R&D Program of China(2022YFB3707700)Strategic Priority Research Program of the Chinese Academy of Sciences(XDC0144005)。
文摘Silicon carbide fibers are considered ideal reinforcing materials for ceramic matrix composites due to their excellent mechanical properties and high-temperature performance.Different types of fibers necessitate individual investigation due to variations in their composition and fabrication processes.This study presents a comprehensive investigation into evolution of the mechanical properties,surface microstructure,and composition of Shicolon-Ⅱ fibers subjected to argon heat treatment at temperatures ranging from 1300℃to 1700℃.The Shicolon-Ⅱ fibers are composed of small-sized β-SiC grains,SiC_(x)O_(y) amorphous phase,and a minor amount of graphite microcrystals.Following treatment in an argon atmosphere at 1300℃,the fibers maintain a monofilament tensile strength of 3.620 GPa,corresponding to a retention of 98.32%.This strength diminishes to 2.875 GPa,equating to a retention of 78.08%,after treatment at 1500℃.The reduction in mechanical properties of the fibers can be ascribed to the decomposition of the amorphous phase and the growth of β-SiC grains.Furthermore,creep resistance is an essential factor influencing the long-term performance of composite materials.After treatment at temperatures above 1400℃,the high-temperature creep resistance of the fibers is significantly enhanced due to growth of β-SiC grains.This study offers valuable theoretical insights into high-temperature applications of second-generation fibers,contributing to an enhanced understanding of their performance under extreme conditions.
基金Tianjin Municipal Natural Science Foundation(23JCYBJC00040)National Natural Science Foundation of China(52175369)。
文摘The TiB+TiC dual-reinforced B_(4)C/TC4 composite was in-situ fabricated via incorporating 0.5wt%B_(4)C reinforcement during the laser melting deposition process.Different heat treatments of annealing and solid solution were used to regulate the microstructure,mechanical properties,and corrosion properties of B_(4)C/TC4 composite.Results show that with the increase in temperature from 500℃to 800°C,partial lamellarα-Ti in the as-deposited sample is gradually transformed into equiaxedα-Ti,accompanied by the disappearance of basketweave microstructure.At 1100°C,a small portion of TiC phase suffers fusion.This composite exhibits the optimal combination of strength and plasticity after annealing at 500℃for 4 h followed by furnace cooling,which is attributed to the stress release effect and the refined basketweave microstructure.However,this composite shows a decline in corrosion resistance after various heat treatments due to grain coarsening and micro-galvanic corrosion.
基金National Key Research and Development Program of China(2023YFB4606400)Supported by Longmen Laboratory Frontier Exploration Topics(LMQYTSKT003)。
文摘Copper manufactured by laser powder bed fusion(LPBF)process typically exhibits poor strength-ductility coordination,and the addition of strengthening phases is an effective way to address this issue.To explore the effects of strengthening phases on Cu,Cu-carbon nanotubes(CNTs)composites were prepared using LPBF technique with Cu-CNTs mixed powder as the matrix.The formability,microstructure,mechanical properties,electrical conductivity,and thermal properties were studied.The result shows that the prepared composites have high relative density.The addition of CNTs results in inhomogeneous equiaxed grains at the edges of the molten pool and columnar grains at the center.Compared with pure copper,the overall mechanical properties of the composite are improved:tensile strength increases by 52.8%and elongation increases by 146.4%;the electrical and thermal properties are also enhanced:thermal conductivity increases by 10.8%and electrical conductivity increases by 12.7%.
基金financially supported by the Natural Science Foundation of Liaoning Province of China(2022-MS-109)the Key Research and Development Program of Liaoning Province(2023JH2/101800045)the Ministry of Science and Technology of the Peoples Republic of China(ZZ2021006).
文摘The Cu-12Fe alloy has attracted significant attention due to its excellent electrical conductivity and electromagnetic shielding capability,high strength,cost-effectiveness,and recyclability.In the present work,the Cu-12Fe alloy strip with the thickness of 2.4 mm was successfully produced by twin-roll strip casting.The microstructure and properties of the Cu-12Fe alloy were tailored by cold rolling and aging treatment.The tensile strength of the as-cast strip is approximately 328 MPa and its elongation is 25%.The Fe phase randomly dispersed in the matrix,and the average size of Fe-rich phase is 2μm.Besides,enrichment of Fe phase is observed in the central layer of the strip,results in the formation of the“sandwich structure”.Moreover,the as-cast strip of Cu-12Fe was directly cold-rolled from 2.4 to 0.12 mm.The directly cold-rolled sample after aging at 450℃for 16 h(ProcessⅠ)shows excellent electrical conductivity of 69.5%IACS,the tensile strength and elongation are 513 MPa and 3.8%,the saturation magnetic flux density is 20.1 emu·g^(-1),and the coercive force is 25.2 Oe.In ProcessⅡ,the as-cast strip firstly cold-rolled to 1.2 mm,then aged at 500℃for 1.5 h,followed by cold rolling to 0.12 mm,finally aged at 450℃for 16 h.The sample after ProcessⅡshows the electrical conductivity of 66.3%IACS,the tensile strength of 533 MPa,an elongation of 3.5%,saturation magnetic flux density of 21.4 emu·g^(-1),and the coercive force of 22.3 Oe.
基金National Key Research and Development Program of China(2022YFB3708400)the Guangdong Major Project of Basic and Applied Basic Research(2020B0301030006)the Guangdong Provincial Academy of Sciences Special Funds Project for Building Domestic First-class Research Institutions Action(2020GDASYL-20200101001).
文摘In the research of magnesium-based composites,the plasticity and strength of the materials are the most critical factors affecting their applications.In this paper,Ti particle-reinforced Mg-9Gd-4Y-2Mn-1Zn matrix composites were prepared by semi-solid stirring and hot extrusion processes.The main objective is to study the effects of different contents of spherical Ti particles(0,3,and 5wt%)on the microstructure,mechanical properties and wear resistance of the composites.The results show that the addition of Ti particles can form a good interface bond with the matrix,and refine the undeformed coarse grains in the material,which has a certain increase in the hardness,yield strength(YS),ultimate tensile strength(UTS)and elongation(EL)of the material.In addition,when subjected to friction grinding under a force of 100 N,compared with the matrix,the composite material reinforced with Ti particles shows a lower wear rate and friction coefficient,demonstrates higher wear resistance,and can be applied in more fields.
文摘The influences of silicon addition to commercially pure magnesium(CP Mg)and cooling rate during solidification on the as-cast microstructure and shear mechanical properties of Mg-Si alloys were systematically investigated.For this purpose,the Mg-0.6Si,Mg-1.34Si,and Mg-3Si(wt%)alloys were considered as hypoeutectic,eutectic,and hypereutectic alloys,respectively.By decreasing the geometrical modulus of the solidifying section(increasing cooling rate),remarkable grain refinement,refining the dendrite arm spacing(DAS),and modification of Mg_(2)Si particles were achieved.Moreover,the grain size was refined via Si addition in the hypoeutectic range,while coarsening of grain size at high Si concentrations was observed.The results of shear punch testing and hardness measurements demonstrated that the ultimate shear strength(USS)and hardness increased by increasing the cooling rate during solidification.Moreover,Si addition generally improved hardness,while the highest USS level was achieved for the eutectic alloy due to the fine grain size and strengthening effect of the eutectic constituent.However,regarding the hypereutectic Mg-3Si alloy that exhibited high hardness,the shear properties were inferior due to the detrimental effect of the primary Mg_(2)Si particles.Finally,the results were discussed with consideration of the relationship between strength and hardness,for which the critical effect of Si was clarified.
基金supported by the National Natural Science Foundation of China(Nos.52201119,52371108)Frontier Exploration Project of Longmen Laboratory,China(No.LMQYTSKT014)The Joint Fund of Henan Science and Technology R&D Plan of China(No.242103810056).
文摘The strength-ductility trade-off in magnesium alloys remains a critical challenge urgently requiring resolution in their engineering applications.In this study,both mechanical and corrosion properties are enhanced in extruded Mg-Y-Nd-Zr alloys by Sm addition.Sm promotes dynamic recrystallization,activates non-basal slip systems and weakens basal texture intensity,leading to the sub-grain lamellar structure and rare earth texture.The EWS2 alloy exhibits an outstanding combination of high yield strength(328 MPa)and ductility(15.1%).Furthermore,the fragmented second phases in the Sm-containing alloy are uniformly distributed,reducing the subsequent corrosion driving force after micro-galvanic corrosion and facilitating the growth of a more passivating and compact corrosion film.These combined effects contribute to the lowest degradation rate in the EWS2 alloy.This study demonstrates the correlation between microstructure and properties in Sm-containing WE series alloys,providing insights for the design of other high performance magnesium alloys.
基金financially and technically supported by the National Key Laboratory Foundation of Science and Technology on Materials under Shock and Impact,Beijing Institute of Technology,China(No.WDZC2024-1)。
文摘Cryogenic rolling impacts on microstructure and mechanical properties of spray-formed 7055(SF-7055)Al alloy were investigated.Results show that with the increase of the reduction from 20%to 80%,the grain of cryogenic rolled SF-7055 Al alloy is elongated to form a fiber texture.Numerous proliferating dislocations in the microstructure accumulate into dislocation walls and cells,and eventually form subgrains.These subgrain boundaries divide the original grain,thereby reducing the grain size.Under severe deformation conditions,they even enable the formation of nanograins.Meanwhile,the Cu-rich precipitates in the matrix are also broken and refined under the action of large rolling stress.In the process of cryogenic rolling,the tensile strength and hardness of SF-7055 Al alloy gradually increase,while the plasticity decreases.Moreover,the fracture morphology of cryogenic rolled SF-7055 Al alloy gradually transforms to the ductile and quasi-cleavage hybrid fracture characteristics with increased reduction.
基金the financial support by the Major Science and Technology Achievement Transformation Project in Heilongjiang Province(No.ZC2023SH0075)the National Natural Science Foundation of China(Nos.52425401,U2441255,52474377,and 52371015)+1 种基金the Young Elite Scientists Sponsorship·Program by CAST(No.2021QNRC001)the Henan Provincial Key Research and Development&Promotion Special Program(No.251111231400)。
文摘The microstructure of high Nb-TiAl alloys was optimized by the addition of a small amount of Ta elements to further improve their properties.A series of Ti46Al1.5Cr8Nb-xTa(x=0.2,0.4,0.6,0.8,1.0,at.%)alloys were prepared by vacuum arc melting.The microstructure,mechanical properties,and related influencing mechanisms were systematically investigated.The results indicate that the solidification microstructure of the Ti46Al1.5Cr8Nb-xTa alloys comprises theγ-TiAl phase,α_(2)-Ti_(3)Al phase,and B2 phase.As the Ta content increases from 0.2 at.%to 1.0 at.%,the content ofα_(2)phase and B2 phase increases,while theγphase content decreases.Among them,the B2 phase shows the most pronounced change,being significantly refined,with its content increasing from 12.49%to 21.91%.In addition,the average size of the lamellar colony decreases from 160.65 to 94.44μm.The addition of the Ta element shifts the solidification path toward lower aluminum concentrations,leading to changes in phase content.The tantalum-induced increase in the B2 phase and enhanced supercooling at the solidification front provide the basis for lamellar colony refinement.Compressive testing at room temperature reveals that the Ti46 Al1.5 Cr8 Nb0.4 Ta alloy exhibits optimal compressive properties,achieving a compressive strength of 2,434 MPa and a compressive strain of 33.1%.The improvement of its properties is attributed to a combination of lamellar colony refinement,solid solution strengthening resulting from the incorporation of Ta element,and a reduction in the c/a of theγphase.
基金support from the National Key R&D Program of China(Grant No.2023YFC3081500)the National Natural Science Foundation of China(Grant Nos.52225904 and 52039007).
文摘Fissured rocks are prevalent in geotechnical engineering and can significantlyimpact the stability of engineering structures.Microbial-induced carbonate precipitation(MICP)technology provides an ecofriendly solution for repairing fissuredrocks.To optimize repair effectiveness,this study firstinvestigated the effects of environmental factors on bacterial growth,urease activity,and calcium carbonate yield.The optimal MICP scheme was determined to be a pH of 9,a temperature of 25℃,and a cementation solution concentration of 0.5 mol/L.Subsequently,the sandstone specimens with various fissureapertures were repaired using MICP with different bacterial concentrations.Dynamic tests were carried out on the repaired specimens using a split Hopkinson pressure bar system.The experimental results indicate that the dynamic strength of the MICP-repaired specimens positively correlates with strain rate,but decreases with increasing bacterial concentration and fissureaperture.These factors have little effect on the progressive failure behavior.Surface cracks were mainly compression-shear cracks in the repair area and tensile-shear cracks at the end of the specimen.Moreover,the crystal morphology observed by scanning electron microscope indicates that MICP primarily produces vaterite crystals,and lower bacterial concentrations favor the formation of more stable calcite crystals,thereby enhancing the cementitious properties.Furthermore,X-ray computed tomography demonstrates an uneven distribution of calcium carbonate within fissures,with higher fillingrates observed at the injection end and at the bottom of the fissures.Lower bacterial concentrations and smaller fissureapertures are conducive to more uniform distribution and increased fillingrate of calcium carbonate,with fissureaperture exerting a more dominant influence.
基金financially supported by the National Key Research and Development Program of China(Nos.2022YFB3709300,2021YFB3701000)the National Natural Science Foundation of China(Nos.52271090,52071036,U2037601,U21A2048)+1 种基金Chongqing Science and Technology Commission,China(Nos.CSTB2022TIAD-KPX0021,CSTC2024YCJHBGZXM0164,CSTB2024TIAD-KPX0001)the Fundamental Research Funds for the Central Universities,China(No.2022CDJDX-002)。
文摘The commercial AM60(Mg−6Al−0.3Mn)die-casting alloy was modified through Mn,Ce,and La micro-alloying,each at a content below 0.2 wt.%.SEM,TEM,and Micro-CT were employed to characterize the microstructures and properties of AM60 based alloys.AM60-0.2La alloy showed excellent mechanical properties.The ultimate tensile strength,yield strength,and elongation of(288.0±1.7)MPa,(158.0±1.0)MPa,and(22.0±3.0)%were achieved in AM60-0.2La alloy.Besides,AM60-0.2La alloy exhibited the best corrosion resistance(0.29 mm/a)and fluidity among the investigated four alloys.The excellent mechanical properties and corrosion resistance are mainly attributed to the grain refinement strengthening,low porosity,and low content of large shrinkage porosity,promising for super-sized integrated automotive components.
基金the National Natural Science Foundation of China (Nos. 52071179, 52271033)the Key Program of National Natural Science Foundation of China (No. 51931003)+2 种基金the Natural Science Foundation of Jiangsu Province, China (No. BK20221493)the Jiangsu Province Leading Edge Technology Basic Research Major Project, China (No. BK20222014)the Foundation of “Qinglan Project” for Colleges and Universities in Jiangsu Province, China。
文摘The composition−property relationship of 18 quaternary high entropy diborides(HEBs)consisting of boron and IVB,VB and VIB transition metals(TM)was investigated using first-principles calculations.A valence electron concentration−relative electronegativity(VEC−REN)composite descriptor was developed to effectively predict the mechanical properties of HEBs.The results demonstrate that with a fixed VEC,the rise of the REN makes HEBs harder but more brittle when the electronegativity of doped TM atoms is lower than that of boron atoms.However,HEBs become softer and more ductile as REN increases if the doped TM atoms have higher electronegativity than boron atoms.The VEC−REN composite descriptor can accurately classify and predict the mechanical properties of HEBs with different components,which provides important theoretical guidance for the rapid design and development of novel high-entropy ceramic materials.
基金Funded by the National Science Foundation of China(No.52368031)the China Postdoctoral Science Foundation(No.2022M713497)+1 种基金the Jiangxi Provincial Natural Science Foundation(No.20252BAC250115)the Jiangxi Provincial Department of Transportation Science and Technology Project(No.2022H0017)。
文摘Utilization of ceramic wastes to fabricate concrete can not only effectively dispose the wastes,but also reduce the energy and source consumptions.Therefore,we fabricated a green ultra high performance concrete using ceramic waste powder(CWP)to replace 55%of cement,and ceramic waste aggregate(CWA)to replace 100%natural quartz sand.However,high content of ceramic wastes will harm the concrete performance including workability and mechanical properties.Therefore,a low-cost and low carbon nano-calcium carbonate(NC)was introduced to compensate for the defects caused by large amounts of CWP and CWA to workability and mechanical behavior.The experimental results show that the workability of ultra high performance concrete with large amounts of CWP and CWA(UHPCLCC)increases by 28.57%with NC content of 5%.Moreover,the flexural strengths,fracture energy,compressive strengths,and compressive toughness of UHPCLCC increase up to 29.6%,56.5%,20.4%,and 37.6%,respectively,which is caused by the nano-core effect of NC.
基金supported by Guangdong Major Project of Basic and Applied Basic Research, China (No. 2020B0301030006)Fundamental Research Funds for the Central Universities, China (No. SWU-XDJH202313)+1 种基金Chongqing Postdoctoral Science Foundation Funded Project, China (No. 2112012728014435)the Chongqing Postgraduate Research and Innovation Project, China (No. CYS23197)。
文摘A new method was proposed for preparing AZ31/1060 composite plates with a corrugated interface,which involved cold-pressing a corrugated surface on the Al plate and then hot-pressing the assembled Mg/Al plate.The results show that cold-pressing produces intense plastic deformation near the corrugated surface of the Al plate,which promotes dynamic recrystallization of the Al substrate near the interface during the subsequent hot-pressing.In addition,the initial corrugation on the surface of the Al plate also changes the local stress state near the interface during hot pressing,which has a large effect on the texture components of the substrates near the corrugated interface.The construction of the corrugated interface can greatly enhance the shear strength by 2−4 times due to the increased contact area and the strong“mechanical gearing”effect.Moreover,the mechanical properties are largely depended on the orientation relationship between corrugated direction and loading direction.
基金Funded by Natural Science Foundation of Guangxi(No.2025GXNSFBA069565)Guangxi Science and Technology Program(No.AD25069101)Guangxi Bagui Scholars Fund。
文摘Crushing waste coral concrete into recycled aggregates to create recycled coral aggregate concrete(RCAC)contributes to sustainable construction development on offshore islands and reefs.To investigate the impact of recycled coral aggregate on concrete properties,this study performed a comprehensive analysis of the physical properties of recycled coral aggregate and the basic mechanical properties and microstructure of RCAC.The test results indicate that,compared to coral debris,the crushing index of recycled coral aggregate was reduced by 9.4%,while porosity decreased by 33.5%.Furthermore,RCAC retained the early strength characteristics of coral concrete,with compressive strength and flexural strength exhibiting a notable increase as the water-cement ratio decreased.Under identical conditions,the compressive strength and flexural strength of RCAC were 12.7% and 2.5% higher than coral concrete's,respectively,with porosity correspondingly reduced from 3.13% to 5.11%.This enhancement could be attributed to the new mortar filling the recycled coral aggregate.Scanning electron microscopy(SEM)analysis revealed three distinct interface transition zones within RCAC,with the‘new mortar-old mortar’interface identified as the weakest.The above findings provided a reference for the sustainable use of coral concrete in constructing offshore islands.
基金supported by the National Natural Science Foundation of China(Nos.52305401 and 52475391)National Key Research and Development Program of China(2024YFB3714301)+1 种基金the Fundamental Research Program of Shanxi Province(202303011211004,TZLH20230818001)Engineering Research Center of the Ministry of Education.
文摘Cold deformation treatment of Cu-bearing stainless steel through a cold rolling process combined with electric pulse treatment(EPT)can significantly improve the microstructure and formability of cold-rolled Cu-bearing stainless steel.The microstructure after EPT was characterized by scanning electron microscopy,transmission electron microscopy,and in-situ tensile testing.It is found that compared with conventional heat treatment,EPT process can significantly promote the nucleation rate and mobility at grain boundaries of the deformed samples,greatly accelerating the recovery and static recrystallization of Cu-bearing stainless steel samples at lower temperatures and contributing to the recovery of anisotropy and the re-molding of deformed samples.Microstructural characterization and theoretical analyses show that the rapid recrystallization during EPT process is caused not only by Joule heating effects but also by non-thermal effects that accelerate grain boundary migration and dislocation destruction and regeneration.In addition,EPT process significantly accelerated the nucleation and precipitation growth of Cu-rich phase.The coarsening of Cu-rich phase during EPT process is due to not only the high vacancy diffusion coefficient under the action of the electric pulse but also the increase in the vacancy diffusion flux induced by the electromigration in the process of the electric pulse.
