To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory s...To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.展开更多
Traditional stealth materials do not fulfill the requirements of high absorption for radar waves and low emissivity for infrared waves.Furthermore,they can be detected by various technologies,considerably threatening ...Traditional stealth materials do not fulfill the requirements of high absorption for radar waves and low emissivity for infrared waves.Furthermore,they can be detected by various technologies,considerably threatening weapon safety.Therefore,a stealth material compatible with radar and infrared was designed based on the photonic bandgap characteristics of photonic crystals.The radar stealth lay-er(bottom layer)is a composite of carbonyl iron/silicon dioxide/epoxy resin,and the infrared stealth layer(top layer)is a 1D photonic crystal with alternately and periodically stacked germanium and silicon nitride.Through composition optimization and structural adjust-ment,the effective absorption bandwidth of the compatible stealth material with a reflection loss of less than-10 dB has reached 4.95 GHz.The average infrared emissivity of the proposed design is 0.1063,indicating good stealth performance.The theoretical analysis proves that photonic crystals with this structural design can produce infrared waves within the photonic bandgap,achieving high radar wave transmittance and low infrared emissivity.Infrared stealth is achieved without affecting the absorption performance of the radar stealth layer,and the conflict between radar and infrared stealth performance is resolved.This work aims to promote the application of photonic crystals in compatible stealth materials and the development of stealth technology and to provide a design and theoretical found-ation for related experiments and research.展开更多
Photothermoelectric(PTE)photodetectors with selfpowered and uncooled advantages have attracted much interest due to the wide application prospects in the military and civilian fields.However,traditional PTE photodetec...Photothermoelectric(PTE)photodetectors with selfpowered and uncooled advantages have attracted much interest due to the wide application prospects in the military and civilian fields.However,traditional PTE photodetectors lack of mechanical flexibility and cannot operate independently without the test instrument.Herein,we present a flexible PTE photodetector capable of dual-mode output,combining electrical and optical signal generation for enhanced functionality.Using solution processing,high-quality MXene thin films are assembled on asymmetric electrodes as the photosensitive layer.The geometrically asymmetric electrode design significantly enhances the responsivity,achieving 0.33 m A W^(-1)under infrared illumination,twice that of the symmetrical configuration.This improvement stems from optimized photothermal conversion and an expanded temperature gradient.The PTE device maintains stable performance after 300 bending cycles,demonstrating excellent flexibility.A new energy conversion pathway has been established by coupling the photothermal conversion of MXene with thermochromic composite materials,leading to a real-time visualization of invisible infrared radiation.Leveraging this functionality,we demonstrate the first human-machine collaborative infrared imaging system,wherein the dual-mode photodetector arrays synchronously generate human-readable pattern and machine-readable pattern.Our study not only provides a new solution for functional integration of flexible photodetectors,but also sets a new benchmark for human-machine collaborative optoelectronics.展开更多
Turbojet engines played significant roles in the aviation industry and still have important applications in small engines for missiles to reduce weight.In this paper,we concentrate on the simulation of the centrifugal...Turbojet engines played significant roles in the aviation industry and still have important applications in small engines for missiles to reduce weight.In this paper,we concentrate on the simulation of the centrifugal turbine impeller and introduce the advanced Isogeometric analysis(IGA)method.IGA,which bypasses the mesh generation process in finite element analysis(FEA),has the potential for seamless integration between computer-aided design(CAD)and computer-aided engineering(CAE).To overcome the problem of only applying the spline basis function in IGA,we propose a parametric modeling approach and construct a centrifugal impeller library.The proposed modeling method generates a compatible hub by rotating the customized shaped blades,avoids the trimmed curves and surfaces,and provides suitable analysis models straight for IGA.The constructed library produces three distinct centrifugal impellers,which are represented by multiple nonuniform rational B-splines(NURBS)patches,including Reissner-Mindlin(RM)shell-to-RM shell,RM shell-to-solid,and solid-to-solid.To avoid the instability issues arising from weakly gluing algorithms in the analysis process on complex geometries,we propose an effective coupling method utilizing compatible patches to globally number the control points and assemble the stiffness matrix and load vector.The degree of freedom(DOF)of the solid is employed to dispose of the inconsistent DOF problem between the RM shell-to-solid model in this algorithm.We consider two kinds of operating environments,including centrifugal force and steady heat conduction to the functioning turboprop.Under the same accuracy,our MATLAB coding results demonstrate that IGA requires fewer elements,and achieves superior rendering effects to ABAQUS.Unlike FEA,the IGA method maintains the same geometry as the origin model after analysis.展开更多
In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordinat...In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance.展开更多
Li-rich Mn-based oxides(LRMO)are of great significance in achieving high energy density all-solid-state lithium batteries(ASSLBs),owing to their high theoretical capacity and high operation voltage.Unfortunately,their...Li-rich Mn-based oxides(LRMO)are of great significance in achieving high energy density all-solid-state lithium batteries(ASSLBs),owing to their high theoretical capacity and high operation voltage.Unfortunately,their practical application is hindered by severe interface degradation due to the chemical oxidation and electrochemical decomposition of solid electrolytes(SEs),driven by high-active oxygen and electron sources from LRMO.Herein,an interfacial modification strategy is proposed to stabilize the surface lattice oxygen of LRMO and reduce electronic conduction between LRMO and SEs,synergistically.Accordingly,the byproducts from chemical oxidation(InO^(-))and electrochemical decomposition(LiCl^(-))are largely suppressed,leading to superior interfacial transport with the lowest resistance.Consequently,the ASSLB achieves a high reversible capacity of 227.9 mA h g^(-1)at 0.1 C,a cycling stability of 90.1%capacity retention after 200 cycles at 0.1 C,and a superior rate capability with a capacity of81.7 m A h g^(-1)at 3.0 C.This study enriches the fundamental understanding of LRMO/SEs interfacial evolution during the electrochemical cycling and the proposed interfacial modification strategy benefits the future design of Li-rich compounds for ASSLBs.展开更多
Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results ca...Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results cannot be fed back to users timely.To address this issue,we proposed a human-machine interaction(HMI)method for discontinuity mapping.Users can help the algorithm identify the noise and make real-time result judgments and parameter adjustments.For this,a regular cube was selected to illustrate the workflows:(1)point cloud was acquired using remote sensing;(2)the HMI method was employed to select reference points and angle thresholds to detect group discontinuity;(3)individual discontinuities were extracted from the group discontinuity using a density-based cluster algorithm;and(4)the orientation of each discontinuity was measured based on a plane fitting algorithm.The method was applied to a well-studied highway road cut and a complex natural slope.The consistency of the computational results with field measurements demonstrates its good accuracy,and the average error in the dip direction and dip angle for both cases was less than 3.Finally,the computational time of the proposed method was compared with two other popular algorithms,and the reduction in computational time by tens of times proves its high computational efficiency.This method provides geologists and geological engineers with a new idea to map rapidly and accurately rock structures under large amounts of noises or unclear features.展开更多
Most multispectral compatible infrared camouflage devices primarily focus on achieving low emissivity but neglect environmental emissivity matching when environmental emissivity exceeds that of the devices,this create...Most multispectral compatible infrared camouflage devices primarily focus on achieving low emissivity but neglect environmental emissivity matching when environmental emissivity exceeds that of the devices,this creates a"low-emissivity exposure"risk.To address this issue,we develop a tunable multispectral compatible infrared camouflage device using phase change material In3SbTe2(IST).Simulation and experimental results demonstrate that in both the amorphous(aIST)and crystalline(cIST)states,the device achieves simulated plant infrared camouflage and ultra-low emissivity infrared camouflage within the atmospheric window bands(3–5μm and 8–14μm).To address thermal management,it utilizes two non-atmospheric window bands(2.5–3μm and 5–8μm)for heat dissipation.Additionally,laser stealth is realized at three specific wavelengths(1.064μm,1.55μm,and 10.6μm).In the visible spectrum,high absorptivity enables effective visible light camouflage.Adjusting the geometric parameters of top layer structure enables color variation.This work not only highlights potential applications in reversible switching,reconfigurable imaging,and dynamic coding using IST but also offers an effective strategy to counter multispectral detection technology.展开更多
This study is based on the background of the new era of innovation and inheritance in traditional Chinese medicine(TCM),with the fundamental goal of promoting the high-quality development of TCM.Guided by a deep under...This study is based on the background of the new era of innovation and inheritance in traditional Chinese medicine(TCM),with the fundamental goal of promoting the high-quality development of TCM.Guided by a deep understanding of General Secretary Xi Jinping's important discussions on TCM work,the study systematically investigates and analyzes the complementary advantages and collaborative innovation potential of apprenticeship education and university education.It focuses on the core proposition of‘dual-track integration‘,systematically explaining the internal mechanisms and pathways for the compatible development of the two educational models at both theoretical and practical levels.The research aims to provide theoretical support and practical reference for constructing a new mechanism for TCM talent training that meets the needs of the times。展开更多
Background:Panacis Quinquefolii Radix(PQR)is known for its ability to nourish“Qi”(it serves as the driving force for the functional activities of the body’s organs and meridians,promoting and regulating various phy...Background:Panacis Quinquefolii Radix(PQR)is known for its ability to nourish“Qi”(it serves as the driving force for the functional activities of the body’s organs and meridians,promoting and regulating various physiological functions)and“Yin”(it represents the material foundation of the human body.It plays a role in nourishing,moistening,and cooling the body).Notoginseng Radix et Rhizoma(NRR)is recognized for its properties of resolving blood stasis(it refers to a pathological condition characterized by impaired or stagnant blood circulation within the body).Changes in the compatibility ratio of these herbs often lead to variations in their chemical composition and efficacy.However,the specific alterations in chemical composition and efficacy resulting from compatibility adjustments remain unclear.We aimed to compare the material basis and their effects of different compatibility ratios of PQR and NRR on“Qi”deficiency and blood stasis syndrome(QBS).Methods:This study employed UPLC-Q/TOF-MS to identify effective compounds in the compatibility of PQR and NRR and utilized UPLC-TQ-MS/MS to analyze the dissolution of 16 saponins in PQR and NRR at 9 different ratios.A rat model of QBS was established,and the efficacy of PQR and NRR in treating this syndrome was assessed using hemorheology and coagulation analyses.Results:The study results show that PQR and NRR exhibit significant efficacy,effectively reducing blood viscosity induced by platelet aggregation and lowering inflammatory markers such as IL-6,IL-10,TXB2 and ET associated with vascular injury.Moreover,this combination regulates ATP and ADP levels,enhances energy metabolism,and promotes overall health.A total of 104 compounds in the compatibility of PQR and NRR were identified.The ratios of 1:2 and 1:3 showed the highest total saponin content,but the ratio of 1:1 demonstrated a superior pharmacological effect for the treatment of QBS.Conclusion:In summary,the compatibility of PQR and NRR not only shows the complex interactions between traditional Chinese medicinal materials,but also provides a new idea and method for the treatment of QBS.展开更多
In the information age,blended teaching,no matter online or offline,has become the mainstream of college teaching reform.In this teaching model,self-directed learning and cooperative learning are the two main learning...In the information age,blended teaching,no matter online or offline,has become the mainstream of college teaching reform.In this teaching model,self-directed learning and cooperative learning are the two main learning approaches.On the online teaching platform,students mainly learn knowledge-based content by self-directed learning,while practising their language skills by cooperative learning in flipped classroom activities.On one hand,it advocates student-centered strategy so as to improve students autonomous learning ability;on the other hand,teachers serve as a guide to organize the classroom activities;meanwhile,they give timely feedback to students in order to promote students’learning ability.In blended teaching model,this mutually compatible and reinforcing model of self-directed learning and cooperative learning is undoubtedly helpful to improve the teaching efficiency.展开更多
Because of global climate change, it is necessary to add forest biomass estimation to national forest resource monitoring. The biomass equations developed for forest biomass estimation should be compatible with volume...Because of global climate change, it is necessary to add forest biomass estimation to national forest resource monitoring. The biomass equations developed for forest biomass estimation should be compatible with volume equations. Based on the tree volume and aboveground biomass data of Masson pine （Pinus massoniana Lamb.） in southern China, we constructed one-, two- and three-variable aboveground biomass equations and biomass conversion functions compatible with tree volume equations by using error-in-variable simultaneous equations. The prediction precision of aboveground biomass estimates from one variable equa- tion exceeded 95%. The regressions of aboveground biomass equations were improved slightly when tree height and crown width were used together with diameter on breast height, although the contributions to regressions were statistically insignificant. For the biomass conversion function on one variable, the conversion factor decreased with increasing diameter, but for the conversion function on two variables, the conversion factor increased with increasing diameter but decreased with in- creasing tree height.展开更多
Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)applications.Determining how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgen...Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)applications.Determining how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgently need a solution.Recently,many EMG pattern recognition tasks have been addressed using deep learning methods.In this paper,we analyze recent papers and present a literature review describing the role that deep learning plays in EMG-based HMI.An overview of typical network structures and processing schemes will be provided.Recent progress in typical tasks such as movement classification,joint angle prediction,and force/torque estimation will be introduced.New issues,including multimodal sensing,inter-subject/inter-session,and robustness toward disturbances will be discussed.We attempt to provide a comprehensive analysis of current research by discussing the advantages,challenges,and opportunities brought by deep learning.We hope that deep learning can aid in eliminating factors that hinder the development of EMG-based HMI systems.Furthermore,possible future directions will be presented to pave the way for future research.展开更多
Hydrogel-based triboelectric nanoge nerator(TENG)has a promising applied prospect in wearable electronic devices.However,its low performance,poor stability,insufficient recyclability and inferior self-healing seriousl...Hydrogel-based triboelectric nanoge nerator(TENG)has a promising applied prospect in wearable electronic devices.However,its low performance,poor stability,insufficient recyclability and inferior self-healing seriously hinder its development.Herein,we report a robust route to a liquid metal(LM)/polyvinyl alcohol(PVA)hydrogel-based TENG(LP-TENG).Owing to the intrinsically liquid feature of conductive LM within the flexible PVA hydrogel,the as-prepared LP-TENG exhibited comprehensiye advantages of adaptability,biocompatibility,outstanding electrical performance,superior stability,recyclability and diverse applications,which were unattainable by traditional systems.Concretely,the LP-TENG delivered appealing open circuit voltage of 250 V,short circuit current of 4μA and transferred charge of 120 nC with high stability,outperforming most advanced TENG systems.The LP-TENG was successfully employed for versatile applications with multifunctionality,including human motion detection,handwriting recognition,energy collection,message transmission and human-machine interaction.This work presents significant prospects for crafting advanced materials and devices in the fields of wearable electronics,flexible skin and smart robots.展开更多
Poly （ethyleneglycol monomethylether） methacrylate （PEGMM）was synthesized by means of the reaction of methacrylyl chloride with sodium monomethylpolyethyleneglycoxide and was characterized by FTIR,;H-NMR,and ultra...Poly （ethyleneglycol monomethylether） methacrylate （PEGMM）was synthesized by means of the reaction of methacrylyl chloride with sodium monomethylpolyethyleneglycoxide and was characterized by FTIR,;H-NMR,and ultraviolet spectrometries. A series of poly （vinyl alcohol）-graft-PEGMM （PVA-g-PEGMM ）and methyl methacrylate-PEGMM copolymer （PMMA-PEGMM） were prepared and tested for antithrombogenicity in vitro. The results indicate that the antithrombogenicity of the copolymers basically increases with the increasing of the DP of polyoxyethylene （POE） chain and tends to a plateau after the DP around 114,i.e. the long chain structure of POE is favourable to the antithrombogenicityof its copolymers ;moreover, the extent of the improvement ofantithrombogenicity also relates to the PEGMM content of the copolymers and the kind of the matrix that the POE chains are located on. These results are consistent with the anticipation of the hypothesis of maintaining proteins normal conformations for blood compatible bioraaterials.展开更多
Combination flexible and stretchable textiles with self-powered sensors bring a novel insight into wearable functional electronics and cyber security in the era of Internet of Things.This work presents a highly flexib...Combination flexible and stretchable textiles with self-powered sensors bring a novel insight into wearable functional electronics and cyber security in the era of Internet of Things.This work presents a highly flexible and self-powered fully fabric-based triboelectric nanogenerator(F-TENG)with sandwiched structure for biomechanical energy harvesting and real-time biometric authentication.The prepared F-TENG can power a digital watch by low-frequency motion and respond to the pressure change by the fall of leaves.A self-powered wearable keyboard(SPWK)is also fabricated by integrating large-area F-TENG sensor arrays,which not only can trace and record electrophysiological signals,but also can identify individuals’typing characteristics by means of the Haar wavelet.Based on these merits,the SPWK has promising applications in the realm of wearable electronics,self-powered sensors,cyber security,and artificial intelligences.展开更多
Cold acclimation is associated with many metabolic changes that lead to an increase of freezing tolerance. In order to investigate the biochemical process of cold acclimation in Ammopiptanthus mongolicus, seedlings we...Cold acclimation is associated with many metabolic changes that lead to an increase of freezing tolerance. In order to investigate the biochemical process of cold acclimation in Ammopiptanthus mongolicus, seedlings were acclimated at 2℃ under 16-h photoperiod （150 μmol·m^-2·s^-1 photosynthetically active radiation） for 14 d. Freezing tolerance in seedlings increased after 14 d of cold-hardening. Contents of protein, proline and solute carbohydrate in cotyledon increased after cold acclimation. Patterns of isozymes of superoxide dismutase （SOD）, peroxidase, catalase and polyphenol oxidase （PPO） were investigated. The activities of SOD, peroxidase and PPO in cold acclimated plants were increased during cold-hardening. We deduced that compatible solutes and antioxidant enzymes play important roles in development of freezing tolerance during cold acclimation in this evergreen woody plant.展开更多
We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraint...We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.展开更多
Fufang Xueshuantong （FXT） is a well-known Chinese herbal formula which has been used to treat car- diovascular and ophthalmic diseases, especially diabetic retinopathy. Panax notoginseng （Burkill） F.H. Chen （PN）...Fufang Xueshuantong （FXT） is a well-known Chinese herbal formula which has been used to treat car- diovascular and ophthalmic diseases, especially diabetic retinopathy. Panax notoginseng （Burkill） F.H. Chen （PN） is the main herb of FXT, whose major bioactive constituents are ginsenosides. However, the scientific basis of the compatibility of FXT is still ambiguous. The present study investigated the scientific basis of the compatibility of FXT by comparing the pharmacokinetics of marker compounds after oral administrations of PN and FXT. A high performance liquid chromatography-electrospray ionization tandem mass spectrometry （HPLC-ESI-MS/MS） method was devel- oped for simultaneous detection of notoginsenoside R1 （NR1）, ginsenoside Rgl （GRgl）, and ginsenoside Rbl （GRbl） in rat plasma. The pharmacokinetic studies of FXT and PN were performed using the established method with the pharmacokinetic parameters being determined by non-compartmental analysis. The results showed that the phar- macokinetic parameters （maximum concentration, area under the curve （AUC0-t）, clearance, and mean residence time） of NR1, GRgl, and GRbl were significantly different after oral administration of FXT （P〈0.05） compared with PN. The AUO0-t values of GRgl and GRbl were 1.7- and 3.4-fold greater, respectively, in FXT than in PN. The compatible herbs of FXT could prolong the retention time and increase the systemic exposure of NR1, GRgl, and GRbl compared with PN in vivo, providing some scientific basis for the compatibility and clinical use of FXT.展开更多
The typical quadrangular and triangular elements for thin plate bending based on Kirchhoff assumptions are the non- conforming elements with low computational accuracy and limitative application range in fmite element...The typical quadrangular and triangular elements for thin plate bending based on Kirchhoff assumptions are the non- conforming elements with low computational accuracy and limitative application range in fmite element method（FEM）. Some compatible elements can be developed by the means of supplementing correction functions, increasing nodes in element or on the boundaries, expanding nodal degrees of freedom（DOF）, etc, but these elements are inconvenient to apply in practice for the high calculation complexity. In this paper, in order to overcome the defects of thin plate bending finite element, numerical manifold method（NMM） was introduced to solve thin plate bending deformation problem. Rectangular mesh was adopted as mathematical mesh to form f＇mite element cover system, and then 16-cover manifold element was proposed. Numerical manifold formulas were constructed on the basis of minimum potential energy principle, displacement boundary conditions are implemented by penalty function method, and all the element matrixes were derived in details. The 16-cover element has a simple calculation process for employing only the transverse displacement cover DOFs as the basic unknown variables, and has been proved to meet the requirements of completeness and full compatibility. As an application, the presented 16-cover element has been used to analyze bending deformation of square thin plate under different loads and boundary conditions, and the results show that numerical manifold method with compatible element, compared with finite element method, can improve computational accuracy and convergence greatly.展开更多
基金The National Natural Science Foundation of China(No.51675098)。
文摘To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.
基金supported by the National Natural Science Foundation of China(Nos.52071053,U1704253,and 52103334).
文摘Traditional stealth materials do not fulfill the requirements of high absorption for radar waves and low emissivity for infrared waves.Furthermore,they can be detected by various technologies,considerably threatening weapon safety.Therefore,a stealth material compatible with radar and infrared was designed based on the photonic bandgap characteristics of photonic crystals.The radar stealth lay-er(bottom layer)is a composite of carbonyl iron/silicon dioxide/epoxy resin,and the infrared stealth layer(top layer)is a 1D photonic crystal with alternately and periodically stacked germanium and silicon nitride.Through composition optimization and structural adjust-ment,the effective absorption bandwidth of the compatible stealth material with a reflection loss of less than-10 dB has reached 4.95 GHz.The average infrared emissivity of the proposed design is 0.1063,indicating good stealth performance.The theoretical analysis proves that photonic crystals with this structural design can produce infrared waves within the photonic bandgap,achieving high radar wave transmittance and low infrared emissivity.Infrared stealth is achieved without affecting the absorption performance of the radar stealth layer,and the conflict between radar and infrared stealth performance is resolved.This work aims to promote the application of photonic crystals in compatible stealth materials and the development of stealth technology and to provide a design and theoretical found-ation for related experiments and research.
基金supported by the Fundamental Research Funds for the Central Universities(xxj022019009)。
文摘Photothermoelectric(PTE)photodetectors with selfpowered and uncooled advantages have attracted much interest due to the wide application prospects in the military and civilian fields.However,traditional PTE photodetectors lack of mechanical flexibility and cannot operate independently without the test instrument.Herein,we present a flexible PTE photodetector capable of dual-mode output,combining electrical and optical signal generation for enhanced functionality.Using solution processing,high-quality MXene thin films are assembled on asymmetric electrodes as the photosensitive layer.The geometrically asymmetric electrode design significantly enhances the responsivity,achieving 0.33 m A W^(-1)under infrared illumination,twice that of the symmetrical configuration.This improvement stems from optimized photothermal conversion and an expanded temperature gradient.The PTE device maintains stable performance after 300 bending cycles,demonstrating excellent flexibility.A new energy conversion pathway has been established by coupling the photothermal conversion of MXene with thermochromic composite materials,leading to a real-time visualization of invisible infrared radiation.Leveraging this functionality,we demonstrate the first human-machine collaborative infrared imaging system,wherein the dual-mode photodetector arrays synchronously generate human-readable pattern and machine-readable pattern.Our study not only provides a new solution for functional integration of flexible photodetectors,but also sets a new benchmark for human-machine collaborative optoelectronics.
基金supported by the Aeronautical Science Foundation of China(2023Z068051002)2021 Special Scientific Research on Civil Aircraft Projectthe Natural Science Foundation of China(52175213)。
文摘Turbojet engines played significant roles in the aviation industry and still have important applications in small engines for missiles to reduce weight.In this paper,we concentrate on the simulation of the centrifugal turbine impeller and introduce the advanced Isogeometric analysis(IGA)method.IGA,which bypasses the mesh generation process in finite element analysis(FEA),has the potential for seamless integration between computer-aided design(CAD)and computer-aided engineering(CAE).To overcome the problem of only applying the spline basis function in IGA,we propose a parametric modeling approach and construct a centrifugal impeller library.The proposed modeling method generates a compatible hub by rotating the customized shaped blades,avoids the trimmed curves and surfaces,and provides suitable analysis models straight for IGA.The constructed library produces three distinct centrifugal impellers,which are represented by multiple nonuniform rational B-splines(NURBS)patches,including Reissner-Mindlin(RM)shell-to-RM shell,RM shell-to-solid,and solid-to-solid.To avoid the instability issues arising from weakly gluing algorithms in the analysis process on complex geometries,we propose an effective coupling method utilizing compatible patches to globally number the control points and assemble the stiffness matrix and load vector.The degree of freedom(DOF)of the solid is employed to dispose of the inconsistent DOF problem between the RM shell-to-solid model in this algorithm.We consider two kinds of operating environments,including centrifugal force and steady heat conduction to the functioning turboprop.Under the same accuracy,our MATLAB coding results demonstrate that IGA requires fewer elements,and achieves superior rendering effects to ABAQUS.Unlike FEA,the IGA method maintains the same geometry as the origin model after analysis.
基金Supported by National Natural Science Foundation of China(Grant Nos.U22A20246,52372382)Hefei Municipal Natural Science Foundation(Grant No.2022008)+1 种基金the Open Fund of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures(Grant No.KF2023-06)S&T Program of Hebei(Grant No.225676162GH).
文摘In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance.
基金supported by the National Natural Science Foundation of China with Grant No.12274176 and No.12474210supported by the relevant national program+1 种基金support from Department of Science and Technology of Jilin Province with Grant No.20210301021GXthe Fundamental Research Funds for the Center Universities with Grant No.2023-JCXK-03。
文摘Li-rich Mn-based oxides(LRMO)are of great significance in achieving high energy density all-solid-state lithium batteries(ASSLBs),owing to their high theoretical capacity and high operation voltage.Unfortunately,their practical application is hindered by severe interface degradation due to the chemical oxidation and electrochemical decomposition of solid electrolytes(SEs),driven by high-active oxygen and electron sources from LRMO.Herein,an interfacial modification strategy is proposed to stabilize the surface lattice oxygen of LRMO and reduce electronic conduction between LRMO and SEs,synergistically.Accordingly,the byproducts from chemical oxidation(InO^(-))and electrochemical decomposition(LiCl^(-))are largely suppressed,leading to superior interfacial transport with the lowest resistance.Consequently,the ASSLB achieves a high reversible capacity of 227.9 mA h g^(-1)at 0.1 C,a cycling stability of 90.1%capacity retention after 200 cycles at 0.1 C,and a superior rate capability with a capacity of81.7 m A h g^(-1)at 3.0 C.This study enriches the fundamental understanding of LRMO/SEs interfacial evolution during the electrochemical cycling and the proposed interfacial modification strategy benefits the future design of Li-rich compounds for ASSLBs.
基金supported by the National Key R&D Program of China(No.2023YFC3081200)the National Natural Science Foundation of China(No.42077264)the Scientific Research Project of PowerChina Huadong Engineering Corporation Limited(HDEC-2022-0301).
文摘Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results cannot be fed back to users timely.To address this issue,we proposed a human-machine interaction(HMI)method for discontinuity mapping.Users can help the algorithm identify the noise and make real-time result judgments and parameter adjustments.For this,a regular cube was selected to illustrate the workflows:(1)point cloud was acquired using remote sensing;(2)the HMI method was employed to select reference points and angle thresholds to detect group discontinuity;(3)individual discontinuities were extracted from the group discontinuity using a density-based cluster algorithm;and(4)the orientation of each discontinuity was measured based on a plane fitting algorithm.The method was applied to a well-studied highway road cut and a complex natural slope.The consistency of the computational results with field measurements demonstrates its good accuracy,and the average error in the dip direction and dip angle for both cases was less than 3.Finally,the computational time of the proposed method was compared with two other popular algorithms,and the reduction in computational time by tens of times proves its high computational efficiency.This method provides geologists and geological engineers with a new idea to map rapidly and accurately rock structures under large amounts of noises or unclear features.
基金funded by the National Key R&D Program of China(2022YFF0706005)National Natural Science Foundation of China(12272407,62275269,62275271,62305387)+3 种基金Foundation of NUDT(ZK23-03)Hunan Provincial Natural Science Foundation of China(2022JJ40552,2023JJ40683)State Key Laboratory of High Performance Computing,NUDT(202201-12)the Hunan Provincial Innovation Foundation for Postgraduate,China(CX20230009).
文摘Most multispectral compatible infrared camouflage devices primarily focus on achieving low emissivity but neglect environmental emissivity matching when environmental emissivity exceeds that of the devices,this creates a"low-emissivity exposure"risk.To address this issue,we develop a tunable multispectral compatible infrared camouflage device using phase change material In3SbTe2(IST).Simulation and experimental results demonstrate that in both the amorphous(aIST)and crystalline(cIST)states,the device achieves simulated plant infrared camouflage and ultra-low emissivity infrared camouflage within the atmospheric window bands(3–5μm and 8–14μm).To address thermal management,it utilizes two non-atmospheric window bands(2.5–3μm and 5–8μm)for heat dissipation.Additionally,laser stealth is realized at three specific wavelengths(1.064μm,1.55μm,and 10.6μm).In the visible spectrum,high absorptivity enables effective visible light camouflage.Adjusting the geometric parameters of top layer structure enables color variation.This work not only highlights potential applications in reversible switching,reconfigurable imaging,and dynamic coding using IST but also offers an effective strategy to counter multispectral detection technology.
基金Yunnan Province High-level Science and Technology Talents and Innovation Team Selection Special Project(Project No.:202305AS350007)。
文摘This study is based on the background of the new era of innovation and inheritance in traditional Chinese medicine(TCM),with the fundamental goal of promoting the high-quality development of TCM.Guided by a deep understanding of General Secretary Xi Jinping's important discussions on TCM work,the study systematically investigates and analyzes the complementary advantages and collaborative innovation potential of apprenticeship education and university education.It focuses on the core proposition of‘dual-track integration‘,systematically explaining the internal mechanisms and pathways for the compatible development of the two educational models at both theoretical and practical levels.The research aims to provide theoretical support and practical reference for constructing a new mechanism for TCM talent training that meets the needs of the times。
基金funded by the Entrusted service project of Shaanxi Administration of Traditional Chinese Medicine(ZYJXG-L23001)2023 Sanqin Talent Special Support Program Innovation and Entrepreneurship Team Project,and Sci-Tech Innovation Talent System Construction Program of Shaanxi University of Chinese Medicine(2023).
文摘Background:Panacis Quinquefolii Radix(PQR)is known for its ability to nourish“Qi”(it serves as the driving force for the functional activities of the body’s organs and meridians,promoting and regulating various physiological functions)and“Yin”(it represents the material foundation of the human body.It plays a role in nourishing,moistening,and cooling the body).Notoginseng Radix et Rhizoma(NRR)is recognized for its properties of resolving blood stasis(it refers to a pathological condition characterized by impaired or stagnant blood circulation within the body).Changes in the compatibility ratio of these herbs often lead to variations in their chemical composition and efficacy.However,the specific alterations in chemical composition and efficacy resulting from compatibility adjustments remain unclear.We aimed to compare the material basis and their effects of different compatibility ratios of PQR and NRR on“Qi”deficiency and blood stasis syndrome(QBS).Methods:This study employed UPLC-Q/TOF-MS to identify effective compounds in the compatibility of PQR and NRR and utilized UPLC-TQ-MS/MS to analyze the dissolution of 16 saponins in PQR and NRR at 9 different ratios.A rat model of QBS was established,and the efficacy of PQR and NRR in treating this syndrome was assessed using hemorheology and coagulation analyses.Results:The study results show that PQR and NRR exhibit significant efficacy,effectively reducing blood viscosity induced by platelet aggregation and lowering inflammatory markers such as IL-6,IL-10,TXB2 and ET associated with vascular injury.Moreover,this combination regulates ATP and ADP levels,enhances energy metabolism,and promotes overall health.A total of 104 compounds in the compatibility of PQR and NRR were identified.The ratios of 1:2 and 1:3 showed the highest total saponin content,but the ratio of 1:1 demonstrated a superior pharmacological effect for the treatment of QBS.Conclusion:In summary,the compatibility of PQR and NRR not only shows the complex interactions between traditional Chinese medicinal materials,but also provides a new idea and method for the treatment of QBS.
文摘In the information age,blended teaching,no matter online or offline,has become the mainstream of college teaching reform.In this teaching model,self-directed learning and cooperative learning are the two main learning approaches.On the online teaching platform,students mainly learn knowledge-based content by self-directed learning,while practising their language skills by cooperative learning in flipped classroom activities.On one hand,it advocates student-centered strategy so as to improve students autonomous learning ability;on the other hand,teachers serve as a guide to organize the classroom activities;meanwhile,they give timely feedback to students in order to promote students’learning ability.In blended teaching model,this mutually compatible and reinforcing model of self-directed learning and cooperative learning is undoubtedly helpful to improve the teaching efficiency.
基金the National Biomass Modeling Program for Continuous Forest Inventory(NBMP-CFI) funded by the State Forestry Administration of China
文摘Because of global climate change, it is necessary to add forest biomass estimation to national forest resource monitoring. The biomass equations developed for forest biomass estimation should be compatible with volume equations. Based on the tree volume and aboveground biomass data of Masson pine （Pinus massoniana Lamb.） in southern China, we constructed one-, two- and three-variable aboveground biomass equations and biomass conversion functions compatible with tree volume equations by using error-in-variable simultaneous equations. The prediction precision of aboveground biomass estimates from one variable equa- tion exceeded 95%. The regressions of aboveground biomass equations were improved slightly when tree height and crown width were used together with diameter on breast height, although the contributions to regressions were statistically insignificant. For the biomass conversion function on one variable, the conversion factor decreased with increasing diameter, but for the conversion function on two variables, the conversion factor increased with increasing diameter but decreased with in- creasing tree height.
基金supported in part by the National Natural Science Foundation of China(U181321461773369+2 种基金61903360)the Selfplanned Project of the State Key Laboratory of Robotics(2020-Z12)China Postdoctoral Science Foundation funded project(2019M661155)。
文摘Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)applications.Determining how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgently need a solution.Recently,many EMG pattern recognition tasks have been addressed using deep learning methods.In this paper,we analyze recent papers and present a literature review describing the role that deep learning plays in EMG-based HMI.An overview of typical network structures and processing schemes will be provided.Recent progress in typical tasks such as movement classification,joint angle prediction,and force/torque estimation will be introduced.New issues,including multimodal sensing,inter-subject/inter-session,and robustness toward disturbances will be discussed.We attempt to provide a comprehensive analysis of current research by discussing the advantages,challenges,and opportunities brought by deep learning.We hope that deep learning can aid in eliminating factors that hinder the development of EMG-based HMI systems.Furthermore,possible future directions will be presented to pave the way for future research.
基金financially supported by the Natural Science Foundation of China(Nos.22109120,62104170 and 82202757)Zhejiang Provincial Natural Science Foundation of China(Nos.LQ21B030002 and LY23F040001)。
文摘Hydrogel-based triboelectric nanoge nerator(TENG)has a promising applied prospect in wearable electronic devices.However,its low performance,poor stability,insufficient recyclability and inferior self-healing seriously hinder its development.Herein,we report a robust route to a liquid metal(LM)/polyvinyl alcohol(PVA)hydrogel-based TENG(LP-TENG).Owing to the intrinsically liquid feature of conductive LM within the flexible PVA hydrogel,the as-prepared LP-TENG exhibited comprehensiye advantages of adaptability,biocompatibility,outstanding electrical performance,superior stability,recyclability and diverse applications,which were unattainable by traditional systems.Concretely,the LP-TENG delivered appealing open circuit voltage of 250 V,short circuit current of 4μA and transferred charge of 120 nC with high stability,outperforming most advanced TENG systems.The LP-TENG was successfully employed for versatile applications with multifunctionality,including human motion detection,handwriting recognition,energy collection,message transmission and human-machine interaction.This work presents significant prospects for crafting advanced materials and devices in the fields of wearable electronics,flexible skin and smart robots.
文摘Poly （ethyleneglycol monomethylether） methacrylate （PEGMM）was synthesized by means of the reaction of methacrylyl chloride with sodium monomethylpolyethyleneglycoxide and was characterized by FTIR,;H-NMR,and ultraviolet spectrometries. A series of poly （vinyl alcohol）-graft-PEGMM （PVA-g-PEGMM ）and methyl methacrylate-PEGMM copolymer （PMMA-PEGMM） were prepared and tested for antithrombogenicity in vitro. The results indicate that the antithrombogenicity of the copolymers basically increases with the increasing of the DP of polyoxyethylene （POE） chain and tends to a plateau after the DP around 114,i.e. the long chain structure of POE is favourable to the antithrombogenicityof its copolymers ;moreover, the extent of the improvement ofantithrombogenicity also relates to the PEGMM content of the copolymers and the kind of the matrix that the POE chains are located on. These results are consistent with the anticipation of the hypothesis of maintaining proteins normal conformations for blood compatible bioraaterials.
基金the National Key R&D Project from Minister of Science and Technology(Grant No.2016YFA0202704)the Beijing Municipal Natural Science Foundation(Grant No.2212052)+1 种基金the Shanghai Sailing Program(Grant No.19S28101)the Fundamental Research Funds for the Central Universities(Grant No.19D128102).
文摘Combination flexible and stretchable textiles with self-powered sensors bring a novel insight into wearable functional electronics and cyber security in the era of Internet of Things.This work presents a highly flexible and self-powered fully fabric-based triboelectric nanogenerator(F-TENG)with sandwiched structure for biomechanical energy harvesting and real-time biometric authentication.The prepared F-TENG can power a digital watch by low-frequency motion and respond to the pressure change by the fall of leaves.A self-powered wearable keyboard(SPWK)is also fabricated by integrating large-area F-TENG sensor arrays,which not only can trace and record electrophysiological signals,but also can identify individuals’typing characteristics by means of the Haar wavelet.Based on these merits,the SPWK has promising applications in the realm of wearable electronics,self-powered sensors,cyber security,and artificial intelligences.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.30671476 and 30271067).
文摘Cold acclimation is associated with many metabolic changes that lead to an increase of freezing tolerance. In order to investigate the biochemical process of cold acclimation in Ammopiptanthus mongolicus, seedlings were acclimated at 2℃ under 16-h photoperiod （150 μmol·m^-2·s^-1 photosynthetically active radiation） for 14 d. Freezing tolerance in seedlings increased after 14 d of cold-hardening. Contents of protein, proline and solute carbohydrate in cotyledon increased after cold acclimation. Patterns of isozymes of superoxide dismutase （SOD）, peroxidase, catalase and polyphenol oxidase （PPO） were investigated. The activities of SOD, peroxidase and PPO in cold acclimated plants were increased during cold-hardening. We deduced that compatible solutes and antioxidant enzymes play important roles in development of freezing tolerance during cold acclimation in this evergreen woody plant.
基金supported by the research project RORAS 2 of the Mediterranean Program funded by INRIA,France
文摘We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.
基金supported by the Ministry of Science and Technology of China(No.2011ZX09201-201-22)
文摘Fufang Xueshuantong （FXT） is a well-known Chinese herbal formula which has been used to treat car- diovascular and ophthalmic diseases, especially diabetic retinopathy. Panax notoginseng （Burkill） F.H. Chen （PN） is the main herb of FXT, whose major bioactive constituents are ginsenosides. However, the scientific basis of the compatibility of FXT is still ambiguous. The present study investigated the scientific basis of the compatibility of FXT by comparing the pharmacokinetics of marker compounds after oral administrations of PN and FXT. A high performance liquid chromatography-electrospray ionization tandem mass spectrometry （HPLC-ESI-MS/MS） method was devel- oped for simultaneous detection of notoginsenoside R1 （NR1）, ginsenoside Rgl （GRgl）, and ginsenoside Rbl （GRbl） in rat plasma. The pharmacokinetic studies of FXT and PN were performed using the established method with the pharmacokinetic parameters being determined by non-compartmental analysis. The results showed that the phar- macokinetic parameters （maximum concentration, area under the curve （AUC0-t）, clearance, and mean residence time） of NR1, GRgl, and GRbl were significantly different after oral administration of FXT （P〈0.05） compared with PN. The AUO0-t values of GRgl and GRbl were 1.7- and 3.4-fold greater, respectively, in FXT than in PN. The compatible herbs of FXT could prolong the retention time and increase the systemic exposure of NR1, GRgl, and GRbl compared with PN in vivo, providing some scientific basis for the compatibility and clinical use of FXT.
基金supported by National Natural Science Foundation of China (Grant No. 50775044, Grant No. 50975050)Guangdong Provincial and Ministry of Education Industry-University-Research Integration Project of China (Grant No. 2009B090300044)
文摘The typical quadrangular and triangular elements for thin plate bending based on Kirchhoff assumptions are the non- conforming elements with low computational accuracy and limitative application range in fmite element method（FEM）. Some compatible elements can be developed by the means of supplementing correction functions, increasing nodes in element or on the boundaries, expanding nodal degrees of freedom（DOF）, etc, but these elements are inconvenient to apply in practice for the high calculation complexity. In this paper, in order to overcome the defects of thin plate bending finite element, numerical manifold method（NMM） was introduced to solve thin plate bending deformation problem. Rectangular mesh was adopted as mathematical mesh to form f＇mite element cover system, and then 16-cover manifold element was proposed. Numerical manifold formulas were constructed on the basis of minimum potential energy principle, displacement boundary conditions are implemented by penalty function method, and all the element matrixes were derived in details. The 16-cover element has a simple calculation process for employing only the transverse displacement cover DOFs as the basic unknown variables, and has been proved to meet the requirements of completeness and full compatibility. As an application, the presented 16-cover element has been used to analyze bending deformation of square thin plate under different loads and boundary conditions, and the results show that numerical manifold method with compatible element, compared with finite element method, can improve computational accuracy and convergence greatly.
