Axonal injury is a pathological hallmark of both head injury and inflammatory-mediated neurological disorders,including multiple sclerosis（Schirmer et al.,2013）.Such axonal disruptions and/or disconnections typicall...Axonal injury is a pathological hallmark of both head injury and inflammatory-mediated neurological disorders,including multiple sclerosis（Schirmer et al.,2013）.Such axonal disruptions and/or disconnections typically result in proximal axonal segments that remain in continuity with the neuronal somawhile losing contact with their distal targets.展开更多
1. Introduction Supported by the Sino-German Center for Research Promotion, and organized jointly by the National Natural Science Foundation of China (NSFC) and the German Research Foundation (DFG), the third Sino-Ger...1. Introduction Supported by the Sino-German Center for Research Promotion, and organized jointly by the National Natural Science Foundation of China (NSFC) and the German Research Foundation (DFG), the third Sino-German workshop on particle fluid systems was held on Oct. 24-31, 2004 in Beijing, China, following the two previous successful workshops held on Aug. 30-31,1999 in Hamburg, Germany (Li and Werther, Chem. Eng. Technol., 23(4), 378, 2000) and May 18-19, 2001 in Beijing, China (Li, Ge, Werther and Bruhns, Chem. Eng. Technol., 24(11), 1097, 2001). Thirty-one scientists from China, Germany, Japan and The Netherlands came together for interdisciplinary discussion over the core problem of multi-phase reaction systems in the name of "Chemical and Physical Interactions between Particles and Fluids".展开更多
Embodied artificial intelligence involves embedding artificial intelligence into tangible entities such as robots,equipping them with the capacity to engage dynamically with their surroundings,make decisions,take acti...Embodied artificial intelligence involves embedding artificial intelligence into tangible entities such as robots,equipping them with the capacity to engage dynamically with their surroundings,make decisions,take actions,and continuously learn and evolve.Humanoid robots are often considered the primary carriers of embodied AI,with their human-like form allowing them to seamlessly adapt to human workspaces and living environments while“experiencing”the world and gathering data through physical interaction.展开更多
Supramolecular materials that combine toughness,transparency,self-healing,and environmental stability are crucial for advanced applications,such as flexible electronics,wearable devices,and protective coatings.However...Supramolecular materials that combine toughness,transparency,self-healing,and environmental stability are crucial for advanced applications,such as flexible electronics,wearable devices,and protective coatings.However,integrating these properties into a single system remains challenging because of the inherent trade-offs between the mechanical strength,elasticity,and structural reconfigurability.Herein,we report a supramolecular ionogel designed via a simple one-step polymerization strategy that combines hydrogen bonding and ion-dipole interactions in a physically crosslinked network.This dual-interaction architecture enables the ionogel to achieve high tensile strength(9 MPa),remarkable fracture toughness(23.6 MJ·m^(−3)),and rapid self-healing under mild thermal stimulation.The material remains highly transparent and demonstrates excellent resistance to moisture,acid,and salt environments,with minimal swelling and performance degradation.Furthermore,it effectively dissipates over 80 MJ·m^(−3) of energy during high-speed impacts,providing reliable protection to fragile substrates.This study offers a broadly applicable molecular design framework for resilient and adaptive soft materials.展开更多
Information is an integral part of the Universe. By its physical essence information is heterogeneity of matter and energy. Therefore information is inseparably connected with matter and energy. The universal measure ...Information is an integral part of the Universe. By its physical essence information is heterogeneity of matter and energy. Therefore information is inseparably connected with matter and energy. The universal measure of information in physical heterogeneity is the Shannon information entropy. An information approach along with a physical one allows to obtain new, sometimes more general data in relation to data obtained on the ground of physical rules only. The results presented in this paper show the effectiveness of informational approach for studying the interactions in the Universe. The paper shows that, along with the physical interactions the gravitational, electromagnetic, strong, weak interactions exists fifth type of fundamental interactions--information interaction, whose magnitude is not dependent on distance. The existence of information interaction is determined by the entanglement of quantum states, of quantum subsystems. The magnitude of information interaction is measured in bits.展开更多
In this paper, the tropical air-sea interaction is discussed by using a simple air-sea coupled model, in which the inertia-gravity waves are filtered off and only the equatorial Rossby waves are reserved in both the a...In this paper, the tropical air-sea interaction is discussed by using a simple air-sea coupled model, in which the inertia-gravity waves are filtered off and only the equatorial Rossby waves are reserved in both the atmosphere and the ocean. There exist two kinds of air-sea interaction waves in the coupled model, that is, the high-frequency fast waves and the low-frequency slow waves. The phase speed of the fast waves is westward and the frequencies are close to those of the equatorial Rossby waves in the atmosphere. The slow waves propagate westward in the part of short wavelengths and eastward in that of long wavelengths. There exist instabilities for both the westward and eastward propagating slow waves. If the fast waves are filtered off, there is little effect on the slow waves which have great influence on the long range process in the tropical air-sea coupled system. According to the tropical air-sea interaction waves we obtain here, a possible explanation to the propagating process of ENSO events is given.展开更多
Background: The first described obesity-susceptibility gene was the fat mass and obesity-associated (FTO) gene. However, knowledge about FTO's potential modifying effect on changes in body weight achieved through ...Background: The first described obesity-susceptibility gene was the fat mass and obesity-associated (FTO) gene. However, knowledge about FTO's potential modifying effect on changes in body weight achieved through a training program is still limited. We decided to study the association between the FTO A/T polymorphism (rs9939609) and obesity-related traits. Additionally, we investigated whether body mass and body composition, as well as metabolic variables observed in physically active participants, are modulated by the FTO polymorphism. Methods: A group of 201 young Polish women were recruited for the study. The genotype distribution was examined in participants measured for selected changes before and after the completion of a 12-week training program. Results: Our results confirm the association between the common FTO A/T polymorphism and increased body mass index (BMI). Subjects with AA and AT genotypes had higher BMI during the entire study period compared with the TT genotype. Although parameters such as BMI, basal metabolism rate, tissue independence, fat mass percentage, fat mass, fat-free mass, total body water, high-density lipoprotein, and glucose changed significantly during the training program, none of the examined parameters changed significantly across the FTO genotypes (genotype × training interaction). Conclusion: We confirm an association between the FTO A/T polymorphism and increased BMI; this polymorphism is therefore a candidate for influencing obesity and other disease-related phenotypes. Although the gene x physical activity interaction was not shown, we want to point out that promoting physical activity is an important approach to controlling the increasing obesity epidemic.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. (http://creativecommons.org/licenses/by-nc-nd/4.0/).展开更多
Objective Shale gas is as an important kind of unconventional natural gas,with a great resource potential,and its exploration and development has attracted much attention around the world.Organic matter（OM）pores are...Objective Shale gas is as an important kind of unconventional natural gas,with a great resource potential,and its exploration and development has attracted much attention around the world.Organic matter（OM）pores are a common constituent in shales and form the dominant pore network of many shale gas systems.展开更多
This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior ...This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior of each user in coping with different tasks, where lower performance results in higher intervention from the robot. This personalized physical human-robot interaction(p2HRI) method incorporates adaptive modeling of the interaction between the human and the robot as well as learning from demonstration(LfD) techniques to adapt to the users' performance. This approach is based on model predictive control where the system optimizes the rendered forces by predicting the performance of the user. Moreover, continuous learning of the user behavior is added so that the models and personalized considerations are updated based on the change of user performance over time. Applying this framework to a field such as haptic guidance for skill improvement, allows a more personalized learning experience where the interaction between the robot as the intelligent tutor and the student as the user,is better adjusted based on the skill level of the individual and their gradual improvement. The results suggest that the precision of the model of the interaction is improved using this proposed method,and the addition of the considered personalized factors to a more adaptive strategy for rendering of guidance forces.展开更多
Biological tissues,such as muscles and skin,exhibit remarkable on-demand modulation of their mechanical properties,allowing them to adapt to complex environmental conditions.For example,sea cucumber can rapidly stiffe...Biological tissues,such as muscles and skin,exhibit remarkable on-demand modulation of their mechanical properties,allowing them to adapt to complex environmental conditions.For example,sea cucumber can rapidly stiffen its skin for self-protection by regulating physical interactions among collagen fibrils[1].In stark contrast,conventional polymer materials,often relying on chemically cross-linked networks like vulcanized rubber,typically offer high mechanical strength but lack this crucial modulus adaptability due to the inert nature of covalent bonds.展开更多
Debris flow fan affects the river profile and landscape evolution.The propagation of multiple debris flows along a river can cause inundation and breaching risk,which can be exemplified by the Min River after the Wenc...Debris flow fan affects the river profile and landscape evolution.The propagation of multiple debris flows along a river can cause inundation and breaching risk,which can be exemplified by the Min River after the Wenchuan earthquake,Sichuan province,China.In this work,large flume tests were conducted to examine the interactions between debris flows and water current with the fan geometry,momentum,runout distance,deposited width,the relative water level upstream and dominated stress.The results reveal that stony flow commonly travels at a high speed and forms a long rectangle shape fan,while the muddy flow generally travels at a low speed and forms a fan-shaped depositional area.The stony flow can block a river even when the momentum is close to the water current;the muddy flow can block a river when the momentum is lower than that of water current.In case of complete river damming,the relative water level upstream indicates that the inundation risk from the muddy flow damming river would be higher than the inundation risk of stony flow.The diversion ratio of muddy flow decreases as damming ratio.Comparison of dimensionless numbers reveals that stony flow is dominated by grain collision stress combined with turbulent mixing stress,while the muddy flow is dominated by viscous shear stress over friction stress.The fan geometry,damming ratio,diversion ratio,and the dominated stress all together indicate that stony flow strongly interacts with water current while the muddy flow does not.The results can be helpful for understanding the physical interactions between water current and various debris flows,and debris flow dynamics at the channel confluence area.展开更多
Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilate...Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be addressed.In this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills relearning.An Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness control.Additionally,the bilateral impedance control is incorporated for realizing compliant patient-robot interaction.Preliminary experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills relearning.Experimental results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.展开更多
Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and fur...Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.展开更多
Disintegration of rock is one of the primary processes of soil formation and geomorphology and is affected considerably by water and heat.This study focused on the disintegration characteristics under laboratory condi...Disintegration of rock is one of the primary processes of soil formation and geomorphology and is affected considerably by water and heat.This study focused on the disintegration characteristics under laboratory conditions of typical purple mudstone from the Tuodian group of Jurassic red beds(J3t) in Tuodian Town,Shuangbai county,Yunnan Province of southern China.The fresh mudstone was subjected to alternating applications of water,heat and hydrothermal interaction during five treatments:wetting-drying(WD),saturation(ST),refrigeration-heating(RH),a combination of wetting-drying and refrigeration-heating(WDRH),and a combination of saturation and refrigeration-heating(STRH).Each treatment was run in twenty-four cycles.The results showed that there are three types of disintegration:collapsing disintegration,exfoliation disintegration and imperceptible disintegration.The cumulative disintegration rate(percentage of cumulative disintegrated mass to the initiative sample mass passed through a 2 mm sieve) produced a 'S'-shape function when related to treatment cycle time and closely fit a logistic model(R2 > 0.99).The rank order of the cumulative disintegration rate resulting from the five treatments was as the following:WDRH > STRH > ST > WD > RH.Because of alternating periods of moisture and dryness,WD caused the most disintegration,while RH alone resulted in imperceptible disintegration.Additionally,there was a negative correlation between the disintegration rate of each treatment cycle(percentage of disintegrated mass to the treated sample mass) and treatment cycle number.There was a positive correlation between this rate and temperature change under moist conditions,indicating that a change in temperature greatly accelerates the disintegration of parent rock when water was supplied.展开更多
Shortcomings of the Boltzmann physical kinetics are considered. Boltzmann equation is only plausible equation. The cosequences originated from this fact are considered in the different fields of theoretical physics fr...Shortcomings of the Boltzmann physical kinetics are considered. Boltzmann equation is only plausible equation. The cosequences originated from this fact are considered in the different fields of theoretical physics from the point of view of nonlocal physics. Namely: main principles of nonlocal physics;generalized hydrodynamic equations;magnetic field evolution in the superconductor of the second type;Hubble expansion;special theory of relativity;the problem of the interaction of matter (M) with physical vacuum (PV) is considered including the PV—M energy exchange. Application nonlocal physics to the problem of the dark matter existence—dark matter does not exist, analytical investigation.展开更多
Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single deg...Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body structures.In this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder joints.The 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators cascade.Based on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness unit.The variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this work.The independence of adjusting the equilibrium position and stiffness of the actuator is validated by experiments.The results show that the measured actuator characteristics are sufficiently matched the theoretical values.In the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human–robot interaction.展开更多
Numerically the delicate scale multipeak structures of the electrostatic solitary waves are found for the three-component（electron-positron-ion,i.e.,EPI） plasmas.The complicated homoclinic phase portraits for this t...Numerically the delicate scale multipeak structures of the electrostatic solitary waves are found for the three-component（electron-positron-ion,i.e.,EPI） plasmas.The complicated homoclinic phase portraits for this two-degree-of-freedom system are presented,which indicate that the system exhibits more abundant nonlinear phenomena.This finding is very useful to unveil the coherent dynamical behavior in laser-plasma interaction.It has an implication of electron acceleration by a laser with soliton wave mechanism.展开更多
Enhanced photon emission and pair production due to heavy ion mass in the interaction of an ultraintense laser with overdense plasmas is explored by particle-in-cell simulation. It is found that plasmas with heavier i...Enhanced photon emission and pair production due to heavy ion mass in the interaction of an ultraintense laser with overdense plasmas is explored by particle-in-cell simulation. It is found that plasmas with heavier ion mass can excite a higher and broader electrostatic field, which causes the enhancement of backward photon emission. The pair yields are then enhanced due to the increase of backwards photons colliding with the incoming laser pulse. By examining the density evolution and angle distribution of each particle species, the origin of pair yield enhancement is clarified.展开更多
基金the center of the current manuscript was performed as a component of the Operation Brain Trauma Therapy consortium,which is supported by U.S.Army grants W81XWH-10-1-0623 and WH81XWH-14-2-0018Microscopy was performed at the VCU Department of Anatomy and Neurobiology Microscopy Facility,supported,in part,with funding from NIH-NINDS Center core grant 5P30NS047463
文摘Axonal injury is a pathological hallmark of both head injury and inflammatory-mediated neurological disorders,including multiple sclerosis（Schirmer et al.,2013）.Such axonal disruptions and/or disconnections typically result in proximal axonal segments that remain in continuity with the neuronal somawhile losing contact with their distal targets.
文摘1. Introduction Supported by the Sino-German Center for Research Promotion, and organized jointly by the National Natural Science Foundation of China (NSFC) and the German Research Foundation (DFG), the third Sino-German workshop on particle fluid systems was held on Oct. 24-31, 2004 in Beijing, China, following the two previous successful workshops held on Aug. 30-31,1999 in Hamburg, Germany (Li and Werther, Chem. Eng. Technol., 23(4), 378, 2000) and May 18-19, 2001 in Beijing, China (Li, Ge, Werther and Bruhns, Chem. Eng. Technol., 24(11), 1097, 2001). Thirty-one scientists from China, Germany, Japan and The Netherlands came together for interdisciplinary discussion over the core problem of multi-phase reaction systems in the name of "Chemical and Physical Interactions between Particles and Fluids".
文摘Embodied artificial intelligence involves embedding artificial intelligence into tangible entities such as robots,equipping them with the capacity to engage dynamically with their surroundings,make decisions,take actions,and continuously learn and evolve.Humanoid robots are often considered the primary carriers of embodied AI,with their human-like form allowing them to seamlessly adapt to human workspaces and living environments while“experiencing”the world and gathering data through physical interaction.
基金supported by the National Natural Science Foundation of China(Nos.T2222019 and T2225016)the National Key R&D Program of China(No.2024YFA0919300)the Fundamental Research Funds for the Central Universities(Nos.020414380232 and 021414380534).
文摘Supramolecular materials that combine toughness,transparency,self-healing,and environmental stability are crucial for advanced applications,such as flexible electronics,wearable devices,and protective coatings.However,integrating these properties into a single system remains challenging because of the inherent trade-offs between the mechanical strength,elasticity,and structural reconfigurability.Herein,we report a supramolecular ionogel designed via a simple one-step polymerization strategy that combines hydrogen bonding and ion-dipole interactions in a physically crosslinked network.This dual-interaction architecture enables the ionogel to achieve high tensile strength(9 MPa),remarkable fracture toughness(23.6 MJ·m^(−3)),and rapid self-healing under mild thermal stimulation.The material remains highly transparent and demonstrates excellent resistance to moisture,acid,and salt environments,with minimal swelling and performance degradation.Furthermore,it effectively dissipates over 80 MJ·m^(−3) of energy during high-speed impacts,providing reliable protection to fragile substrates.This study offers a broadly applicable molecular design framework for resilient and adaptive soft materials.
文摘Information is an integral part of the Universe. By its physical essence information is heterogeneity of matter and energy. Therefore information is inseparably connected with matter and energy. The universal measure of information in physical heterogeneity is the Shannon information entropy. An information approach along with a physical one allows to obtain new, sometimes more general data in relation to data obtained on the ground of physical rules only. The results presented in this paper show the effectiveness of informational approach for studying the interactions in the Universe. The paper shows that, along with the physical interactions the gravitational, electromagnetic, strong, weak interactions exists fifth type of fundamental interactions--information interaction, whose magnitude is not dependent on distance. The existence of information interaction is determined by the entanglement of quantum states, of quantum subsystems. The magnitude of information interaction is measured in bits.
文摘In this paper, the tropical air-sea interaction is discussed by using a simple air-sea coupled model, in which the inertia-gravity waves are filtered off and only the equatorial Rossby waves are reserved in both the atmosphere and the ocean. There exist two kinds of air-sea interaction waves in the coupled model, that is, the high-frequency fast waves and the low-frequency slow waves. The phase speed of the fast waves is westward and the frequencies are close to those of the equatorial Rossby waves in the atmosphere. The slow waves propagate westward in the part of short wavelengths and eastward in that of long wavelengths. There exist instabilities for both the westward and eastward propagating slow waves. If the fast waves are filtered off, there is little effect on the slow waves which have great influence on the long range process in the tropical air-sea coupled system. According to the tropical air-sea interaction waves we obtain here, a possible explanation to the propagating process of ENSO events is given.
基金supported by National Science Centre of Poland(No.2012/07/B/NZ7/01155)
文摘Background: The first described obesity-susceptibility gene was the fat mass and obesity-associated (FTO) gene. However, knowledge about FTO's potential modifying effect on changes in body weight achieved through a training program is still limited. We decided to study the association between the FTO A/T polymorphism (rs9939609) and obesity-related traits. Additionally, we investigated whether body mass and body composition, as well as metabolic variables observed in physically active participants, are modulated by the FTO polymorphism. Methods: A group of 201 young Polish women were recruited for the study. The genotype distribution was examined in participants measured for selected changes before and after the completion of a 12-week training program. Results: Our results confirm the association between the common FTO A/T polymorphism and increased body mass index (BMI). Subjects with AA and AT genotypes had higher BMI during the entire study period compared with the TT genotype. Although parameters such as BMI, basal metabolism rate, tissue independence, fat mass percentage, fat mass, fat-free mass, total body water, high-density lipoprotein, and glucose changed significantly during the training program, none of the examined parameters changed significantly across the FTO genotypes (genotype × training interaction). Conclusion: We confirm an association between the FTO A/T polymorphism and increased BMI; this polymorphism is therefore a candidate for influencing obesity and other disease-related phenotypes. Although the gene x physical activity interaction was not shown, we want to point out that promoting physical activity is an important approach to controlling the increasing obesity epidemic.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. (http://creativecommons.org/licenses/by-nc-nd/4.0/).
基金supported by the National Natural Science Foundation of China(grant No.41202103)China Postdoctoral Science Foundation(grant No. 2016M591350)
文摘Objective Shale gas is as an important kind of unconventional natural gas,with a great resource potential,and its exploration and development has attracted much attention around the world.Organic matter（OM）pores are a common constituent in shales and form the dominant pore network of many shale gas systems.
文摘This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior of each user in coping with different tasks, where lower performance results in higher intervention from the robot. This personalized physical human-robot interaction(p2HRI) method incorporates adaptive modeling of the interaction between the human and the robot as well as learning from demonstration(LfD) techniques to adapt to the users' performance. This approach is based on model predictive control where the system optimizes the rendered forces by predicting the performance of the user. Moreover, continuous learning of the user behavior is added so that the models and personalized considerations are updated based on the change of user performance over time. Applying this framework to a field such as haptic guidance for skill improvement, allows a more personalized learning experience where the interaction between the robot as the intelligent tutor and the student as the user,is better adjusted based on the skill level of the individual and their gradual improvement. The results suggest that the precision of the model of the interaction is improved using this proposed method,and the addition of the considered personalized factors to a more adaptive strategy for rendering of guidance forces.
基金financially supported by the National Natural Science Foundation of China(52322306,22275032,and 52433003)the Shanghai Oriental Talent Program,the Shanghai Talent Development Fund(2021021)the Natural Science Foundation of Shanghai Basic Research Funding(25ZR1401006)。
文摘Biological tissues,such as muscles and skin,exhibit remarkable on-demand modulation of their mechanical properties,allowing them to adapt to complex environmental conditions.For example,sea cucumber can rapidly stiffen its skin for self-protection by regulating physical interactions among collagen fibrils[1].In stark contrast,conventional polymer materials,often relying on chemically cross-linked networks like vulcanized rubber,typically offer high mechanical strength but lack this crucial modulus adaptability due to the inert nature of covalent bonds.
基金funded by the National Key Research and Development Program of China(2017YFC0505602)Second Tibetan Plateau Scientific Expedition and Research Program(Grant No.2019QZKK0902)+2 种基金the National Natural Science Foundation of China(No.41601004)in part by Applied Basic Research Project of Sichuan Province(No.2018JY0169)Scientific and Technological Project in Henan Province(212102310055)。
文摘Debris flow fan affects the river profile and landscape evolution.The propagation of multiple debris flows along a river can cause inundation and breaching risk,which can be exemplified by the Min River after the Wenchuan earthquake,Sichuan province,China.In this work,large flume tests were conducted to examine the interactions between debris flows and water current with the fan geometry,momentum,runout distance,deposited width,the relative water level upstream and dominated stress.The results reveal that stony flow commonly travels at a high speed and forms a long rectangle shape fan,while the muddy flow generally travels at a low speed and forms a fan-shaped depositional area.The stony flow can block a river even when the momentum is close to the water current;the muddy flow can block a river when the momentum is lower than that of water current.In case of complete river damming,the relative water level upstream indicates that the inundation risk from the muddy flow damming river would be higher than the inundation risk of stony flow.The diversion ratio of muddy flow decreases as damming ratio.Comparison of dimensionless numbers reveals that stony flow is dominated by grain collision stress combined with turbulent mixing stress,while the muddy flow is dominated by viscous shear stress over friction stress.The fan geometry,damming ratio,diversion ratio,and the dominated stress all together indicate that stony flow strongly interacts with water current while the muddy flow does not.The results can be helpful for understanding the physical interactions between water current and various debris flows,and debris flow dynamics at the channel confluence area.
文摘Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be addressed.In this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills relearning.An Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness control.Additionally,the bilateral impedance control is incorporated for realizing compliant patient-robot interaction.Preliminary experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills relearning.Experimental results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.
基金supported by the National Natural Science Foundation of China(61403215)the National Natural Science Foundation of Tianjin(13JCYBJC36600)the Fundamental Research Funds for the Central Universities
文摘Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.
基金supported by National Natural Science Foundation of China (Grant No.40971168)National Basic Research Program of China (973 Program) (Grant No. 2007CB407206)
文摘Disintegration of rock is one of the primary processes of soil formation and geomorphology and is affected considerably by water and heat.This study focused on the disintegration characteristics under laboratory conditions of typical purple mudstone from the Tuodian group of Jurassic red beds(J3t) in Tuodian Town,Shuangbai county,Yunnan Province of southern China.The fresh mudstone was subjected to alternating applications of water,heat and hydrothermal interaction during five treatments:wetting-drying(WD),saturation(ST),refrigeration-heating(RH),a combination of wetting-drying and refrigeration-heating(WDRH),and a combination of saturation and refrigeration-heating(STRH).Each treatment was run in twenty-four cycles.The results showed that there are three types of disintegration:collapsing disintegration,exfoliation disintegration and imperceptible disintegration.The cumulative disintegration rate(percentage of cumulative disintegrated mass to the initiative sample mass passed through a 2 mm sieve) produced a 'S'-shape function when related to treatment cycle time and closely fit a logistic model(R2 > 0.99).The rank order of the cumulative disintegration rate resulting from the five treatments was as the following:WDRH > STRH > ST > WD > RH.Because of alternating periods of moisture and dryness,WD caused the most disintegration,while RH alone resulted in imperceptible disintegration.Additionally,there was a negative correlation between the disintegration rate of each treatment cycle(percentage of disintegrated mass to the treated sample mass) and treatment cycle number.There was a positive correlation between this rate and temperature change under moist conditions,indicating that a change in temperature greatly accelerates the disintegration of parent rock when water was supplied.
文摘Shortcomings of the Boltzmann physical kinetics are considered. Boltzmann equation is only plausible equation. The cosequences originated from this fact are considered in the different fields of theoretical physics from the point of view of nonlocal physics. Namely: main principles of nonlocal physics;generalized hydrodynamic equations;magnetic field evolution in the superconductor of the second type;Hubble expansion;special theory of relativity;the problem of the interaction of matter (M) with physical vacuum (PV) is considered including the PV—M energy exchange. Application nonlocal physics to the problem of the dark matter existence—dark matter does not exist, analytical investigation.
基金This work was supported by the National Key R&D Program of China(2018YFB1304600)National Natural Science Foundation of China(51605474,61821005)+1 种基金Key Research Program of Frontier Sciences,CAS,Grantno.ZDBS-LY-JSCollLiaoning RevitalizationTalents Program(XLYC1807090).
文摘Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body structures.In this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder joints.The 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators cascade.Based on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness unit.The variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this work.The independence of adjusting the equilibrium position and stiffness of the actuator is validated by experiments.The results show that the measured actuator characteristics are sufficiently matched the theoretical values.In the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human–robot interaction.
基金supported by National Natural Science Foundation of China(NSFC) under Grants No.11475026 and No.11305010
文摘Numerically the delicate scale multipeak structures of the electrostatic solitary waves are found for the three-component（electron-positron-ion,i.e.,EPI） plasmas.The complicated homoclinic phase portraits for this two-degree-of-freedom system are presented,which indicate that the system exhibits more abundant nonlinear phenomena.This finding is very useful to unveil the coherent dynamical behavior in laser-plasma interaction.It has an implication of electron acceleration by a laser with soliton wave mechanism.
基金supported by National Natural Science Foundation of China (NSFC) under Grant No. 11475026
文摘Enhanced photon emission and pair production due to heavy ion mass in the interaction of an ultraintense laser with overdense plasmas is explored by particle-in-cell simulation. It is found that plasmas with heavier ion mass can excite a higher and broader electrostatic field, which causes the enhancement of backward photon emission. The pair yields are then enhanced due to the increase of backwards photons colliding with the incoming laser pulse. By examining the density evolution and angle distribution of each particle species, the origin of pair yield enhancement is clarified.
