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Independent dual-band bound states in the continuum based on terahertz all-dielectric metasurfaces
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作者 WANG Yu LIU Yang +5 位作者 HAO Xiao-yu ZHENG Si-yu LIU Meng ZHANG Yu-ping ZHAN Yi ZHANG Hui-yun 《中国光学(中英文)》 北大核心 2025年第5期1230-1242,共13页
Compared to traditional single-frequency bound states in the continuum(BIC),dual-band BIC of-fers higher degrees of freedom and functionality.Moveover,implementing independent control of dual-band BICs can further enh... Compared to traditional single-frequency bound states in the continuum(BIC),dual-band BIC of-fers higher degrees of freedom and functionality.Moveover,implementing independent control of dual-band BICs can further enhance their advantages and maximize their performance.This study presents a design for a dielectric metasurface that achieves dual-band BICs in the terahertz(THz)range.By adjusting two asym-metry parameters of the structure,independent control of the two symmetry-protected BICs is achieved.Fur-thermore,by varying the shape of the silicon holes,the design's robustness to geometric variations is demon-strated.Finally,the test results show that the figures of merit(FOMs)for both BICs reach 109.This work provides a new approach for realizing and tuning dual-frequency BICs,offering expanded possibilities for applications in multimode lasers,nonlinear optics,multi-channel filtering,and optical sensing. 展开更多
关键词 dual-band bound states in the continuum metasurface terahertz sensing symmetry protection
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Factors Influencing the Continuum of Care for Children and Adolescents Treated for HIV at the Pediatric Teaching Hospital of Bangui
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作者 Simplice Cyriaque Kango Marie Christine Awa Sepou Yanza +3 位作者 Dimitri Horeb Ombellet Carine Judith Kiteze Nguinzanemou Jess Elio Kosh Komba Jean Chrysostome Gody 《Open Journal of Pediatrics》 2025年第1期119-129,共11页
Introduction: Reducing and maintaining viral load is crucial to reducing morbidity and mortality associated with HIV infection in children. The aim of this study was to determine the factors influencing the maintenanc... Introduction: Reducing and maintaining viral load is crucial to reducing morbidity and mortality associated with HIV infection in children. The aim of this study was to determine the factors influencing the maintenance of children and adolescents on antiretroviral therapy in the continuum of care. Methodology: This was a descriptive and analytical cross-sectional study conducted from August 1 to August 31, 2023. It included all children living with HIV, under 15 years of age, with at least two viral load results and whose parents consented to participate in the study. Participants were recruited during their child’s treatment renewal consultations. Results: The study included 143 children, mostly boys (55.2%), with a mean age of 11.54 years (±2.8). More than half (55.2) were unaware of their HIV-positive status, and most treatments were administered by parents (60.8%). Of the 99 children with an undetectable viral load at the first test, 23 (23.2%) showed a viral rebound at the last test, mainly due to poor treatment compliance (p Conclusion: Virological rebound after suppression in children is worrying. It is crucial that the national AIDS program improves Therapeutic Education, trains health workers to communicate results and encourages ongoing dialogue with young people to reinforce adherence and maintain viral suppression. 展开更多
关键词 Influencing Factors continuum of Care Children/Adolescents HIV Bangui
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Countability of Infinite Paths in the Infinity Tree: Proof of the Continuum Hypothesis in a Non-Cantorian Infinity Theory
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作者 Philip C. Jackson 《Advances in Pure Mathematics》 2025年第1期73-90,共18页
A previous paper showed that the real numbers between 0 and 1 could be represented by an infinite tree structure, called the ‘infinity tree’, which contains only a countably infinite number of nodes and arcs. This p... A previous paper showed that the real numbers between 0 and 1 could be represented by an infinite tree structure, called the ‘infinity tree’, which contains only a countably infinite number of nodes and arcs. This paper discusses how a finite-state Turing machine could, in a countably infinite number of state transitions, write all the infinite paths in the infinity tree to a countably infinite tape. Hence it is argued that the real numbers in the interval [0, 1] are countably infinite in a non-Cantorian theory of infinity based on Turing machines using countably infinite space and time. In this theory, Cantor’s Continuum Hypothesis can also be proved. And in this theory, it follows that the power set of the natural numbers P(ℕ) is countably infinite, which contradicts the claim of Cantor’s Theorem for the natural numbers. However, this paper does not claim there is an error in Cantor’s arguments that [0, 1] is uncountably infinite. Rather, this paper considers the situation as a paradox, resulting from different choices about how to represent and count the continuum of real numbers. 展开更多
关键词 INFINITY Countable UNCOUNTABLE Diagonalization Real Numbers Infinity Tree continuum Hypothesis Turing Machine Infinite Time Turing Machine Non-Cantorian
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Ammonium removal through anaerobic ammonium oxidation coupled to iron(III) reduction along the Yangtze river–estuary continuum
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作者 Anxing Lai Shiming Fan +6 位作者 Jingya Xue Hongwei Wang Ke Xie Huabing Li Hai Xu Biao Li Qinglong L.Wu 《Journal of Environmental Sciences》 2025年第6期178-187,共10页
Anaerobic ammonium oxidation coupled to iron(III)reduction(Feammox)process has recently been recognized as an important pathway for removing ammonium in various natural habitats.However,our understanding for Feammox i... Anaerobic ammonium oxidation coupled to iron(III)reduction(Feammox)process has recently been recognized as an important pathway for removing ammonium in various natural habitats.However,our understanding for Feammox in river–estuary continuum is limited.In this study,stable isotope tracers and high-throughput amplicon sequencing were employed to determine Feammox rates and identify associated microbial communities in sediments along the Yangtze river–estuary continuum.Feammox rates averaged 0.0058±0.0069 mg N/(kg·d)and accounted for approximately 22.3%of the ammonium removed from the sediments.Sediment Fe(III),ammonium(NH_(4)^(+)),total organic carbon(TOC),and pH were identified as important factors influencing Feammox rates.Additionally,Spirochaeta,Caldilineaceae_uncultured,and Ignavibacterium were found potentially associated with Feammox,which had not been documented as Feammox-associated microbial taxa previously.This study demonstrates that Feammox plays a vital role in ammonium removal within the Yangtze river–estuary continuum,providing greater insight into nitrogen removal and cycling in aquatic ecosystems. 展开更多
关键词 Feammox ANAMMOX River-estuary continuum Ammonium removal Stable isotope tracing
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Design of a Bio-inspired Extensible Continuum Manipulator with Variable Stiffness
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作者 Dongbao Sui Sikai Zhao +3 位作者 Tianshuo Wang Yubin Liu Yanhe Zhu Jie Zhao 《Journal of Bionic Engineering》 2025年第1期181-194,共14页
This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant trunk.Specifically,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its stre... This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant trunk.Specifically,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its strength.The design features two concentric parts:inner pneumatically actuated bellows and an outer tendon-driven helical spring.The tendons control the omnidirectional bending of the manipulator,while the fusion of the pneumatic bellows with the tendon-driven spring results in an antagonistic actuation mechanism that provides the manipulator with variable stiffness and extensibility.This paper presents a new design for extensible manipulator and analyzes its stiffness and motion characteristics.Experimental results are consistent with theoretical analysis,thereby demonstrating the validity of the theoretical approach and the versatile practical mechanical properties of the continuum manipulator.The impressive extensibility and variable stiffness of the manipulator were further demonstrated by performing a pin-hole assembly task. 展开更多
关键词 Bioinspired robots continuum robots Soft robotics Variable stiffness
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Continuum estimation in low-resolution gamma-ray spectra based on deep learning
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作者 Ri Zhao Li-Ye Liu +5 位作者 Xin Liu Zhao-Xing Liu Run-Cheng Liang Ren-Jing Ling-Hu Jing Zhang Fa-Guo Chen 《Nuclear Science and Techniques》 2025年第2期5-17,共13页
In this study,an end-to-end deep learning method is proposed to improve the accuracy of continuum estimation in low-resolution gamma-ray spectra.A novel process for generating the theoretical continuum of a simulated ... In this study,an end-to-end deep learning method is proposed to improve the accuracy of continuum estimation in low-resolution gamma-ray spectra.A novel process for generating the theoretical continuum of a simulated spectrum is established,and a convolutional neural network consisting of 51 layers and more than 105 parameters is constructed to directly predict the entire continuum from the extracted global spectrum features.For testing,an in-house NaI-type whole-body counter is used,and 106 training spectrum samples(20%of which are reserved for testing)are generated using Monte Carlo simulations.In addition,the existing fitting,step-type,and peak erosion methods are selected for comparison.The proposed method exhibits excellent performance,as evidenced by its activity error distribution and the smallest mean activity error of 1.5%among the evaluated methods.Additionally,a validation experiment is performed using a whole-body counter to analyze a human physical phantom containing four radionuclides.The largest activity error of the proposed method is−5.1%,which is considerably smaller than those of the comparative methods,confirming the test results.The multiscale feature extraction and nonlinear relation modeling in the proposed method establish a novel approach for accurate and convenient continuum estimation in a low-resolution gamma-ray spectrum.Thus,the proposed method is promising for accurate quantitative radioactivity analysis in practical applications. 展开更多
关键词 Gamma-ray spectrum continuum estimation Deep learning Convolutional neural network End-to-end prediction
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A direct evidence for kilometric continuum generation through mode conversion
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作者 ZhouKun Deng FuLiang Xiao +5 位作者 QingHua Zhou YiHua He Sai Zhang Si Liu JiaWen Tang Ping Li 《Earth and Planetary Physics》 2025年第4期995-1000,共6页
The origin of the Kilometric Continuum(KC)is usually attributed to the linear mode conversion window theory,yet direct evidence has been lacking.Here we present an event where electrostatic waves,Z-mode,and KC were ob... The origin of the Kilometric Continuum(KC)is usually attributed to the linear mode conversion window theory,yet direct evidence has been lacking.Here we present an event where electrostatic waves,Z-mode,and KC were observed simultaneously near the magnetic equator by the Van Allen Probes.We identify the radio window(the region for mode conversion taking place)at L=4.059 by solving the fully-thermal dispersion relation.Ray tracing simulations show that the backward-propagating electrostatic mode can smoothly transition to Z-mode.Then,Z-mode can convert to KC when its direction shifts to parallel or anti-parallel propagation at the radio window,which aligns with observations.This study provides direct evidence that supports the linear mode conversion theory as an effective mechanism for KC generation. 展开更多
关键词 kilometric continuum ray trace linear mode conversion
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Bound States in the Continuum of Infinite Quality Factor in Finite Unit Cells
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作者 Hua-Wei Liang Yuan-Zhi Liu +2 位作者 Yu-Jia Zeng Yang-Jian Cai Ting-Yin Ning 《Chinese Physics Letters》 2025年第8期38-53,共16页
A theory based on the superposition principle is developed to uncover the basic physics of wave behavior in a finite grating of N unit cells.The theory reveals that bound states in the continuum(BICs)of infinite quali... A theory based on the superposition principle is developed to uncover the basic physics of wave behavior in a finite grating of N unit cells.The theory reveals that bound states in the continuum(BICs)of infinite quality factor(Q-factor)can be supported by such a grating when perfect reflection is introduced at its boundaries.If geometrical perturbations are introduced into the structure,the dark BICs transform into bright quasi-BICs with finite Q-factor,maintaining spectral characteristics nearly identical to those of quasi-BICs supported by infinite gratings.When the boundaries are replaced with high-reflectivity metallic mirrors,the Q-factor of the resonant mode is reduced to be finite;however,it can be much larger than that in the corresponding nanostructure with open boundaries and can be tuned over a large range by varying the number of unit cells or boundary conditions. 展开更多
关键词 Superposition Principle wave behavior perfect reflection Finite Unit Cells geometrical perturbations dark bics Bound States continuum Infinite Quality Factor
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Bifurcation of the bound states in the continuum in a dissipative cavity magnonic system
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作者 Xinlin Mi Lijun Yan +3 位作者 Bimu Yao Shishen Yan Jinwei Rao Lihui Bai 《Chinese Physics B》 2025年第6期177-181,共5页
We report the bifurcation of bound states in the continuum(BICs) in a dissipative cavity magnonic system, where a BIC splits into a pair of BICs. We theoretically analyze BICs in a dissipative cavity magnonic system a... We report the bifurcation of bound states in the continuum(BICs) in a dissipative cavity magnonic system, where a BIC splits into a pair of BICs. We theoretically analyze BICs in a dissipative cavity magnonic system and derive the critical condition for BICs bifurcation. Based on the theoretical results, we experimentally tune the dissipative photon–magnon coupling strength and demonstrate precise control over the detuning and number of BICs. When the dissipative coupling strength reaches a critical value, we observe the bifurcation of BICs, which is consistent with the theoretical prediction. Our systematic investigation of the evolution of BICs concerning the dissipative coupling strength and the discovery of the BIC bifurcation may enhance the sensitivity of BICs to external perturbations, potentially enabling applications in ultrasensitive detection. 展开更多
关键词 magnonics cavity magnon polaritons bound states in the continuum(BICs)
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Giant-tunable bidirectional Goos–H?nchen shifts via phase change material-based metasurfaces with quasi-bound states in continuum
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作者 Jiaqing Liu Yue Zheng +7 位作者 Xiao Li Jingwen Li Guohao Zhang Daxing Dong Dongmei Liu Yuwen Jia Yangyang Fu Youwen Liu 《Chinese Physics B》 2025年第7期365-370,共6页
We propose a novel approach for investigating the tunable Goos–H?nchen(GH)shift via an all-dielectric metasurface that incorporates phase change materials(PCMs).By introducing material asymmetry through the reconfigu... We propose a novel approach for investigating the tunable Goos–H?nchen(GH)shift via an all-dielectric metasurface that incorporates phase change materials(PCMs).By introducing material asymmetry through the reconfigurable characteristic of PCMs while maintaining fixed geometric parameters,we can achieve tunable dual quasi-bound states in the continuum with ultrahigh quality factors(Q factors).Enabled by such tunable dual modes with significant phase changes,the PCM-based metasurface exhibits giant-tunable bidirectional GH shifts compared to conventional metasurfaces.Notably,the GH shift exhibits multidimensional tunability,including PCM-driven switching(amorphous to crystalline),incident-angle dependence(θ),and wavelength selectivity(λ).The maximum observed shift reaches approximately 104 wavelengths,accompanied by a corresponding Q factor of 107.Our work demonstrates its potential for applications in ultrahigh-precision multifunctional devices,from biosensing to reconfigurable nanophotonic switches. 展开更多
关键词 phase change materials Goos-H¨anchen shift quasi-bound states in the continuum tunable metasurfaces
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Tunable Topological Floquet Bound States in the Continuum in a Periodically Driven Double SSH Chain
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作者 Xian Duan Ruozhen Wang +3 位作者 Bo Zhu Zhi Tan Honghua Zhong Shu Chen 《Chinese Physics Letters》 2025年第9期77-87,共11页
We propose a novel approach to generate and manipulate topological Floquet bound states in the continuum(BICs)via a class of systems constructed by coupling two identical periodically driven one-dimensional Su-Schrief... We propose a novel approach to generate and manipulate topological Floquet bound states in the continuum(BICs)via a class of systems constructed by coupling two identical periodically driven one-dimensional Su-Schrieffer-Heeger chains.The formation of topological Floquet BICs can be adjusted only by tuning the driving amplitude or frequency,regardless of whether the static system has BICs or not.The interchain bias can only change the localization property of topological Floquet BICs,and a bigger bias can lead to transforming topological Floquet BICs into bound states out of the continuum(BOCs).But it does not change the topological properties of these topological Floquet states.Based on the repulsion effect of edge states,we propose to detect occurrence of topological Floquet BICs and transition point between topological Floquet BICs and BOCs using quantum walk.Our work provided a convenient and realistic approach for the experimental realization and manipulation of BICs in a single-particle quantum system. 展开更多
关键词 generate manipulate topological floquet bound states static system continuum double SSH chain class systems interchain bias floquet bicsand tunable topological floquet bound states
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Symmetry-protected and Brillouin zone folding driven bound states in the continuum in dielectric nanorod arrays for efficient third harmonic generation
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作者 Wen-Jing Wang Shi-Jie Liang +2 位作者 Jia-Qi Zou Yan-Yan Huo Ting-Yin Ning 《Chinese Physics B》 2025年第3期390-398,共9页
Two types of bound states in continuum(BICs),symmetry-protected and Brillouin zone folding driven,are identified in hollow Si nanorod arrays.By modulating the direction and distance of the air holes from the center of... Two types of bound states in continuum(BICs),symmetry-protected and Brillouin zone folding driven,are identified in hollow Si nanorod arrays.By modulating the direction and distance of the air holes from the center of the nanorods,it is possible to achieve either a single quasi-BIC or three quasi-BICs.The transmission spectra exhibit ultra-narrow lines,and the quasi-BICs demonstrate ultra-high Q factors.Additionally,efficient third-harmonic generation occurs at low pump intensities.The results indicate that the proposed nanostructures of two types of BICs with a flexible modulation hold great potential applications for nonlinear photonic devices. 展开更多
关键词 bound states in the continuum Brillouin zone folding third harmonic generation
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Interface state-based bound states in continuum and below-continuum-resonance modes with high-Q factors in the rotational periodic system
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作者 杨嘉玲 史奥芊 +2 位作者 彭宇宸 彭鹏 刘建军 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第8期288-293,共6页
We have introduced a new approach to calculate the orbital angular momentum(OAM)of bound states in continuum(BICs)and below-continuum-resonance(BCR)modes in the rotational periodic system nested inside and outside by ... We have introduced a new approach to calculate the orbital angular momentum(OAM)of bound states in continuum(BICs)and below-continuum-resonance(BCR)modes in the rotational periodic system nested inside and outside by transforming the Bloch wave number from the translational periodic system.We extensively classify and study these BICs and BCR modes,which exhibit high-quality(high-Q)factors,in different regions relative to the interface of the system.These BICs and BCR modes with a high-Q factor have been studied in detail based on distinctive structural parameters and scattering theory.The outcomes of this research break the periodic limitation of interface state-based BICs,and realize more and higher symmetry interface state-based BICs and BCR modes.Moreover,we can control the region where light is captured by adjusting the frequency,and show that the Q factor of BICs is more closely related to the ordinal number of rings and the rotational symmetry number of the system. 展开更多
关键词 bound states in the continuum below continuum resonance modes high-quality factors
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Enhancing the Goos-Hänchen shift based on quasi-bound states in the continuum through material asymmetric dielectric compound gratings 被引量:2
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作者 江孝伟 方彬 占春连 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第3期393-400,共8页
Quasi-bound state in the continuum(QBIC)resonance is gradually attracting attention and being applied in Goos-Hänchen(GH)shift enhancement due to its high quality(Q)factor and superior optical confinement.Current... Quasi-bound state in the continuum(QBIC)resonance is gradually attracting attention and being applied in Goos-Hänchen(GH)shift enhancement due to its high quality(Q)factor and superior optical confinement.Currently,symmetry-protected QBIC resonance is often achieved by breaking the geometric symmetry,but few cases are achieved by breaking the material symmetry.This paper proposes a dielectric compound grating to achieve a high Q factor and high-reflection symmetry-protectede QBIC resonance based on material asymmetry.Theoretical calculations show that the symmetry-protected QBIC resonance achieved by material asymmetry can significantly increase the GH shift up to-980 times the resonance wavelength,and the maximum GH shift is located at the reflection peak with unity reflectance.This paper provides a theoretical basis for designing and fabricating high-performance GH shift tunable metasurfaces/dielectric gratings in the future. 展开更多
关键词 bound state in the continuum Goos-Hänchen shift dielectric compound grating material asymmetry
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Progress in ab initio in-medium similarity renormalization group and coupled-channel method with coupling to the continuum 被引量:1
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作者 Xin‑Yu Xu Si‑Qin Fan +4 位作者 Qi Yuan Bai‑Shan Hu Jian‑Guo Li Si‑Min Wang Fu‑Rong Xu 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2024年第12期312-342,共31页
Over the last decade,nuclear theory has made dramatic progress in few-body and ab initio many-body calculations.These great advances stem from chiral efective feld theory(xEFT),which provides an efcient expansion and ... Over the last decade,nuclear theory has made dramatic progress in few-body and ab initio many-body calculations.These great advances stem from chiral efective feld theory(xEFT),which provides an efcient expansion and consistent treatment of nuclear forces as inputs of modern many-body calculations,among which the in-medium similarity renormalization group(IMSRG)and its variants play a vital role.On the other hand,signifcant eforts have been made to provide a unifed description of the structure,decay,and reactions of the nuclei as open quantum systems.While a fully comprehensive and microscopic model has yet to be realized,substantial progress over recent decades has enhanced our understanding of open quantum systems around the dripline,which are often characterized by exotic structures and decay modes.To study these interesting phenomena,Gamow coupled-channel(GCC)method,in which the open quantum nature of few-body valence nucleons coupled to a deformed core,has been developed.This review focuses on the developments of the advanced IMSRG and GCC and their applications to nuclear structure and reactions. 展开更多
关键词 Ab initio calculations Chiral efective feld theory In-medium similarity renormalization group Gamow coupled channel Resonance and continuum Open quantum systems
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In Situ Reconfiguration of Assembling Pattern for Modular Continuum Robots
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作者 Jie Zhang Jiannan Cai +4 位作者 Ke Ma Jinzhao Yang Zhigang Wu Haijun Peng Jianing Wu 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第4期1695-1706,共12页
Modular continuum robots possess significant versatility across various scenarios;however,conventional assembling methods typically rely on linear connection between modules.This limitation can impede the robotic inte... Modular continuum robots possess significant versatility across various scenarios;however,conventional assembling methods typically rely on linear connection between modules.This limitation can impede the robotic interaction capabilities,especially in specific engineering applications.Herein,inspired by the assembling pattern between the femur and tibia in a human knee,we proposed a multidirectional assembling strategy.This strategy encompasses linear,oblique,and orthogonal connections,allowing a two-module continuum robot to undergo in-situ reconfiguration into three distinct initial configurations.To anticipate the final configuration resulting from diverse assembling patterns,we employed the positional formulation finite element framework to establish a mechanical model,and the theoretical results reveal that our customizable strategy can offer an effective route for robotic interactions.We showcased diverse assembling patterns for coping with interaction requirements.The experimental results indicate that our modular continuum robot not only reconfigures its initial profile in situ but also enables on-demand regulation of the final configuration.These capabilities provide a foundation for the future development of modular continuum robots,enabling them to be adaptable to diverse environments,particularly in unstructured surroundings. 展开更多
关键词 Assembling patterns continuum robot In-situ reconfiguration Tensegrity structure Varying stiffness
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Chiral polaritons in semiconductor perovskite metasurface enhanced by bound states in the continuum
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作者 Dun Wang Albert Y.Xiong +5 位作者 Julia Q.Zhang Zengde She Xiaofeng Kang Ying Zhu Sanjib Ghosh Qihua Xiong 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第12期166-173,共8页
The exploration of novel chiral optical platforms holds both fundamental and practical importances,which have shown great promise towards applications in valleytronics,chiral sensing and nanoscopic chiroptics.In this ... The exploration of novel chiral optical platforms holds both fundamental and practical importances,which have shown great promise towards applications in valleytronics,chiral sensing and nanoscopic chiroptics.In this work,we combine two key concepts—chiral bound states in the continuum and exciton polaritons—to showcase a strong chiral response from polaritons.Using the finite element method,we numerically design a CsPbBr_(3)based metasurface that supports intrinsically chiral bound states in the continuum and verify the chirality by calculating the reflection spectrum and eigenpolarization mapping.We further demonstrate chirality-dependent exciton polariton angular dispersion arising from the strong coupling between the chiral BIC and excitons in CsPbBr_(3)by simulating the polariton angle-resolved absorption spectrum.Reciprocity analysis reveals that the polariton photoluminescence in different momentum space locations is selectively enhanced by chiral pumping light.Our results suggest a promising first step towards chiral polaritonics. 展开更多
关键词 bound states in the continuum CHIRALITY metasurface perovskite microcavities exciton polariton
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Controlling Tendons to Modulate Stiffness of a Planar-to-Spatial Tendon-Driven Continuum Manipulator Under External Uncertain Forces
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作者 Vipin Pachouri Pushparaj Mani Pathak 《Journal of Bionic Engineering》 SCIE EI CSCD 2024年第2期821-841,共21页
Continuum manipulators(CM)are soft and flexible manipulators with large numbers of degrees of freedom and can perform complex tasks in an unstructured environment.However,their deformability and compliance can deviate... Continuum manipulators(CM)are soft and flexible manipulators with large numbers of degrees of freedom and can perform complex tasks in an unstructured environment.However,their deformability and compliance can deviate distal tip under uncertain external interactions.To address this challenge,a novel tension-based control scheme has been proposed to modulate the stiffness of a tendon-driven CM,reducing the tip position errors caused by uncertain external forces.To minimize the tip position error,a virtual spring is positioned between the deviated and the desired tip positions.The proposed algorithm corrects the manipulator deviated tip position,improving tension distribution and stiffness profile,resulting in higher stiffness and better performance.The corresponding task space stiffness and condition numbers are also computed under different cases,indicating the effectiveness of the tension control scheme in modulating the manipulator's stiffness.Experimental validation conducted on an in-house developed prototype confirms the practical feasibility of the proposed approach. 展开更多
关键词 continuum arm Hyper-redundant robots Variable stiffness manipulator Tension-based control Mechatronic systems
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Using fracture-based continuum modeling of coupled geomechanical-hydrological processes for numerical simulation of hydraulic fracturing
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作者 Goodluck I.Ofoegbu 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2024年第5期1582-1599,共18页
This paper describes numerical simulation of hydraulic fracturing using fracture-based continuum modeling(FBCM)of coupled geomechanical-hydrological processes to evaluate a technique for high-density fracturing and fr... This paper describes numerical simulation of hydraulic fracturing using fracture-based continuum modeling(FBCM)of coupled geomechanical-hydrological processes to evaluate a technique for high-density fracturing and fracture caging.The simulations are innovative because of modeling discrete fractures explicitly in continuum analysis.A key advantage of FBCM is that fracture initiation and propagation are modeled explicitly without changing the domain grid(i.e.no re-meshing).Further,multiple realizations of a preexisting fracture distribution can be analyzed using the same domain grid.The simulated hydraulic fracturing technique consists of pressurizing multiple wells simultaneously:initially without permeating fluids into the rock,to seed fractures uniformly and at high density in the wall rock of the wells;followed by fluid injection to propagate the seeded fracture density hydraulically.FBCM combines the ease of continuum modeling with the potential accuracy of modeling discrete fractures and fracturing explicitly.Fractures are modeled as piecewise planar based on intersections with domain elements;fracture geometry stored as continuum properties is used to calculate parameters needed to model individual fractures;and rock behavior is modeled through tensorial aggregation of the behavior of discrete fractures and unfractured rock.Simulations are presented for previously unfractured rock and for rock with preexisting fractures of horizontal,shallow-dipping,steeply dipping,or vertical orientation.Simulations of a single-well model are used to determine the pattern and spacing for a multiple-well design.The results illustrate high-density fracturing and fracture caging through simultaneous fluid injection in multiple wells:for previously unfractured rock or rock with preexisting shallow-dipping or horizontal fractures,and in situ vertical compressive stress greater than horizontal.If preexisting fractures are steeply dipping or vertical,and considering the same in situ stress condition,well pressurization without fluid permeation appears to be the only practical way to induce new fractures and contain fracturing within the target domain. 展开更多
关键词 Discrete fracture Fracture-based continuum modeling Fracture caging High-density fracturing Hydraulic fracturing Preexisting fracture
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Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness
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作者 郑先杰 丁萌 +2 位作者 刘辽雪 王璐 郭毓 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第1期316-326,共11页
Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-const... Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model. 展开更多
关键词 static-to-kinematic modeling scheme tendon-driven quasi continuum robot nonconstant subsegment stiffness tension attenuation effect
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