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农业仓储潜入式AMR减振系统优化设计
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作者 戚得众 丁璐 +2 位作者 袁丽峰 吴云志 孙强 《中国农机化学报》 北大核心 2026年第1期295-301,共7页
采用SLAM激光雷达导航的潜入式自主移动机器人AMR已应用于农业仓储领域,为实现更好的自主导航需采用对角双激光雷达,而双激光雷达在信息耦合过程中,车体振动会造成导航定位失败。为解决这一问题,需对潜入式AMR的机械结构进行优化设计。... 采用SLAM激光雷达导航的潜入式自主移动机器人AMR已应用于农业仓储领域,为实现更好的自主导航需采用对角双激光雷达,而双激光雷达在信息耦合过程中,车体振动会造成导航定位失败。为解决这一问题,需对潜入式AMR的机械结构进行优化设计。首先设计一种减振驱动单元,并建立该结构力学模型,同时构建AMR工作路面模型。然后利用Adams与Abaqus软件对优化前后AMR结构进行刚柔耦合动力学仿真,仿真结果表明:优化后AMR相比优化前AMR在A、B级路面上Z向加速度均方差优化率分别为36.9%、55.1%,在障碍路面也有较高优化率。最后通过试验验证该设计结构减振性能的有效性,并满足潜入式AMR雷达激光导航及其他性能要求。 展开更多
关键词 农业仓储 潜入式amr 减振驱动单元 刚柔耦合 动力学
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Low-Density Pulsed Current Induced Refinement of Secondary α Phase for Strengthening Ti-6Al-4V-0.5Mo-0.5Zr Alloy Without Sacrificing Ductility
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作者 Tu Yanni Luo Wei +2 位作者 Liu Huiqun Feng Weizhong Zhang Pinghui 《稀有金属材料与工程》 北大核心 2026年第1期78-91,共14页
Low-density short-duration pulsed current-assisted aging treatment was applied to the Ti-6Al-4V-0.5Mo-0.5Zr alloy subjected to different solution treatments.The results show that numerous α_(p) phases redissolve into... Low-density short-duration pulsed current-assisted aging treatment was applied to the Ti-6Al-4V-0.5Mo-0.5Zr alloy subjected to different solution treatments.The results show that numerous α_(p) phases redissolve into the new β phase during the pulsed current-assisted aging process,and then the newly formed β phase is mainly transformed into the β_(t) phase,with occasional transition to new α_(p) phase,leading to a remarkable grain refinement,especially for the lamellarαs phases.In comparison to conventional aging treatment,the pulsed current-assisted aging approach achieves a significant enhancement in strength without degrading ductility,yielding an excellent mechanical property combination:a yield strength of 932 MPa,a tensile strength of 1042 MPa,and an elongation of 12.2%.It is primarily ascribed to the increased fraction of β_(t) phases,the obvious grain refinement effect,and the slip block effect induced by the multiple-variantαs colonies distributed within β_(t) phases. 展开更多
关键词 titanium alloy pulsed current microstructure refinement strength DUCTILITY
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基于SolidWorks的AMR智能小车设计
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作者 陈菁 袁亭雪 +2 位作者 韩远飞 张慧杰 陈媛媛 《机械管理开发》 2026年第2期83-85,共3页
传统自动导引车车体结构在路径灵活性与环境适应性方面存在一定局限性,通过SolidWorks软件系统性地设计了AMR自主移动机器人的机械结构,构建稳定可靠的车体底盘与举升模组,为AMR实现高精度导航与定位提供坚实的物理平台基础,完成包含行... 传统自动导引车车体结构在路径灵活性与环境适应性方面存在一定局限性,通过SolidWorks软件系统性地设计了AMR自主移动机器人的机械结构,构建稳定可靠的车体底盘与举升模组,为AMR实现高精度导航与定位提供坚实的物理平台基础,完成包含行走转向机构、悬挂系统在内的完整车体底盘所有零部件的结构设计,以及行程达300 mm的举升升降模组,形成了完整的AMR三维结构模型。底盘结构设计充分考虑了承载强度、运动平稳性与传感器安装需求,特别是悬挂系统的设计,旨在有效隔离地面振动,为激光SLAM等导航系统提供了更稳定的工作基础。 展开更多
关键词 amr 车体底盘 升降模组 SOLIDWORKS
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Effects of Element Y on Grain Refinement and Mechanical Properties of Cast Al-2.2Li-1.5Cu-Based Alloy
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作者 Wang Xu Dang Qian +3 位作者 Ma Hongyao Liu Guohuai Zhang Chi Wang Zhaodong 《稀有金属材料与工程》 北大核心 2026年第3期602-614,共13页
The effect of trace addition of 0.1wt%Y on the grain refinement and mechanical properties of Al-2.2Li-1.5Cu-0.5Mg-1Zn-0.2Zr-0.2Sc alloys at as-cast and heat-treated states was investigated.Results show that the additi... The effect of trace addition of 0.1wt%Y on the grain refinement and mechanical properties of Al-2.2Li-1.5Cu-0.5Mg-1Zn-0.2Zr-0.2Sc alloys at as-cast and heat-treated states was investigated.Results show that the addition of 0.1wt%Y into the Al-2.2Li-1.5Cu-0.5Mg-1Zn-0.2Zr-0.2Sc alloys can elevate the nucleation temperature of the Al_(3)(Sc,Zr)phase,leading to the preferential precipitation of the Al_(3)(Sc,Zr)phase and increasing the amount of Al_(3)(Sc,Zr)phase in the matrix.Al_(3)(Sc,Zr)phase can also act as a heterogeneous nucleation site in theα-Al matrix to promote nucleation and refine grains.The addition of element Y changes the precipitation phase characteristics at the grain boundaries in the as-cast alloy,which changes the distribution characteristics of secondary phases from initially continuous and coarse strip-like distribution at grain boundaries into the discontinuous dot-like and rod-like distribution.Besides,the size of secondary phases becomes smaller and their amount increases.Under the combined effects of grain refinement strengthening and precipitation strengthening,the Al-2.2Li-1.5Cu-0.5Mg-1Zn-0.2Zr-0.2Sc-0.1Y alloy after 175℃/10 h aging treatment achieves an ultimate tensile strength of 412 MPa and an elongation of 6.3%.Compared with those of the alloy without Y addition,the ultimate tensile strength and elongation of the added alloy increase by 16.1%and 53.7%,respectively. 展开更多
关键词 Al-Li alloy element Y heat treatment grain refinement
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How has"Henan No.2 Spindle"advanced through specialization,refinement,differentiation,and innovation——An Interview with Mr.Cao Xiucheng from Henan No.2 Textile Machinery Co.,Ltd.
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作者 Niu Fang Zhao Xinhua 《China Textile》 2026年第1期5-7,共3页
At the start of the new year,Cao Xiucheng,Chairman of Henan No.2 Textile Machinery Co.,Ltd.,was on his way to visit clients when he kept receiving urgent calls from the Xinyang production base regarding order scheduli... At the start of the new year,Cao Xiucheng,Chairman of Henan No.2 Textile Machinery Co.,Ltd.,was on his way to visit clients when he kept receiving urgent calls from the Xinyang production base regarding order scheduling.It turned out that since the end of 2025,the company had successively secured bulk spindle orders from overseas clients in Bangladesh and other countries,coupled with continuous urgent requests for orders from domestic manufacturers.Faced with such a production peak right at the beginning of the year,Mr.Cao Xiucheng admitted,“It was truly unexpected.” 展开更多
关键词 innovation DIFFERENTIATION textile machinery production peak SPECIALIZATION refinement SPINDLE order schedulingit
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Superpixel-Aware Transformer with Attention-Guided Boundary Refinement for Salient Object Detection
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作者 Burhan Baraklı Can Yüzkollar +1 位作者 Tugrul Ta¸sçı Ibrahim Yıldırım 《Computer Modeling in Engineering & Sciences》 2026年第1期1092-1129,共38页
Salient object detection(SOD)models struggle to simultaneously preserve global structure,maintain sharp object boundaries,and sustain computational efficiency in complex scenes.In this study,we propose SPSALNet,a task... Salient object detection(SOD)models struggle to simultaneously preserve global structure,maintain sharp object boundaries,and sustain computational efficiency in complex scenes.In this study,we propose SPSALNet,a task-driven two-stage(macro–micro)architecture that restructures the SOD process around superpixel representations.In the proposed approach,a“split-and-enhance”principle,introduced to our knowledge for the first time in the SOD literature,hierarchically classifies superpixels and then applies targeted refinement only to ambiguous or error-prone regions.At the macro stage,the image is partitioned into content-adaptive superpixel regions,and each superpixel is represented by a high-dimensional region-level feature vector.These representations define a regional decomposition problem in which superpixels are assigned to three classes:background,object interior,and transition regions.Superpixel tokens interact with a global feature vector from a deep network backbone through a cross-attention module and are projected into an enriched embedding space that jointly encodes local topology and global context.At the micro stage,the model employs a U-Net-based refinement process that allocates computational resources only to ambiguous transition regions.The image and distance–similarity maps derived from superpixels are processed through a dual-encoder pathway.Subsequently,channel-aware fusion blocks adaptively combine information from these two sources,producing sharper and more stable object boundaries.Experimental results show that SPSALNet achieves high accuracy with lower computational cost compared to recent competing methods.On the PASCAL-S and DUT-OMRON datasets,SPSALNet exhibits a clear performance advantage across all key metrics,and it ranks first on accuracy-oriented measures on HKU-IS.On the challenging DUT-OMRON benchmark,SPSALNet reaches a MAE of 0.034.Across all datasets,it preserves object boundaries and regional structure in a stable and competitive manner. 展开更多
关键词 Salient object detection superpixel segmentation TRANSFORMERS attention mechanism multi-level fusion edge-preserving refinement model-driven
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基于AMR的邮件智能分拣系统设计
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作者 吴蓬勃 王拓 +2 位作者 张金燕 康增鑫 赵星阳 《电子制作》 2025年第23期60-63,共4页
为提升邮件智能分拣系统效率,降低系统维护成本,本文提出了一种基于ROS的AMR邮件智能分拣系统,通过STM32、树莓派和激光雷达等传感器构建AMR驱动层和应用层,实现邮件自动扫码、自动称重,结合ROS实现AMR建图、自主导航、自动充电,最终实... 为提升邮件智能分拣系统效率,降低系统维护成本,本文提出了一种基于ROS的AMR邮件智能分拣系统,通过STM32、树莓派和激光雷达等传感器构建AMR驱动层和应用层,实现邮件自动扫码、自动称重,结合ROS实现AMR建图、自主导航、自动充电,最终实现了邮件的高效智能分拣。 展开更多
关键词 amr STM32 树莓派 邮件 智能分拣
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基于AMR聚类的北斗卫星导航系统多路径误差自适应格网划分建模方法
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作者 王亚伟 伍百发 +4 位作者 黄磊 刘华光 吴志文 詹艳春 李海洋 《测绘通报》 北大核心 2025年第3期81-86,共6页
针对固定间隔格网划分的多路径误差半天球格网点建模方法(MHGM)在多测站应用中计算资源消耗过大的问题,本文首先利用北斗卫星导航系统多路径误差效应的空间域先验分布信息,实现了半天球格网的自适应划分,减少了MHGM的待估参数;然后通过... 针对固定间隔格网划分的多路径误差半天球格网点建模方法(MHGM)在多测站应用中计算资源消耗过大的问题,本文首先利用北斗卫星导航系统多路径误差效应的空间域先验分布信息,实现了半天球格网的自适应划分,减少了MHGM的待估参数;然后通过试验验证了该方法的有效性,该方法可以合并多路径误差变化平缓的区域,并合理加密多路径误差影响较大区域。试验结果表明,随着自适应阈值参数k的增大,虽然北斗系统多路径误差改正效果略有下降,但仍优于作为先验信息的ESM模型。当k=0.9 cm时,相比固定分辨率模式,模型待估参数下降77.2%,参数估计的内存占用仅为固定划分模式的5.2%,显著降低了计算资源消耗。在保证北斗系统多路径误差改正效果的同时,拓展了该方法在大规模测站多路径误差整体建模中的应用价值。 展开更多
关键词 北斗卫星导航系统 多路径误差 先验分布信息 amr聚类 格网划分 MHGM
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基于排队论M/G/s模型的行李分拣AMR系统配置数量计算方法研究 被引量:1
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作者 龙毅 徐小波 +3 位作者 李光飞 吝特高 常敏 刘勇 《兵工自动化》 北大核心 2025年第3期87-92,共6页
针对机场行李分拣技术在国内尚处于起步阶段问题,提出基于运筹学排队论理论,对行李分拣AMR系统的分拣过程进行分析,建立一套简化可行的M/G/s模型。通过借鉴国内外M/G/s近似扩散算法模型,加入了排队机、充放电效率等关键影响参数,根据机... 针对机场行李分拣技术在国内尚处于起步阶段问题,提出基于运筹学排队论理论,对行李分拣AMR系统的分拣过程进行分析,建立一套简化可行的M/G/s模型。通过借鉴国内外M/G/s近似扩散算法模型,加入了排队机、充放电效率等关键影响参数,根据机场行李系统的特殊性需求建立了近似求解算法模型,对行李分拣AMR系统的AMR配置数量进行了计算预测。结果表明:该模型方法的计算结果与Flexsim仿真结果基本一致,能够作为行李分拣AMR系统规划设计过程中的数量评估方法,对行李分拣AMR系统的规划设计具有指导性意义。 展开更多
关键词 排队论 M/G/s amr 行李分拣
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基于时空冲突和非完整约束下的多AMR调度算法研究 被引量:1
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作者 申子祥 孙训红 +1 位作者 从永正 余兰林 《控制与决策》 北大核心 2025年第3期981-986,共6页
针对多自主移动机器人(AMR)调度系统中的决策规划问题,提出一种分层策略的基于时空冲突和非完整约束下的多AMR调度算法.首先,提出加权时空混合A*算法作为算法的底层,进行单AMR路径规划,以确保规划的路径满足阿克曼类型AMR的运动学模型;... 针对多自主移动机器人(AMR)调度系统中的决策规划问题,提出一种分层策略的基于时空冲突和非完整约束下的多AMR调度算法.首先,提出加权时空混合A*算法作为算法的底层,进行单AMR路径规划,以确保规划的路径满足阿克曼类型AMR的运动学模型;然后,引入结合分离轴定理的冲突检测树作为算法的上层,对底层算法规划出的路径进行精确地时空冲突检测,检测出的时空冲突被用作底层算法的时空约束;最后,再次调用底层算法,考虑时空约束进行路径规划,以实现高效的AMR冲突消解.仿真结果表明,所提出算法能够为多AMR调度系统高效地规划出满足非完整约束的无冲突路径. 展开更多
关键词 amr系统 非完整约束 时空冲突检测 加权时空混合A*算法 冲突消解 路径规划
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具身智能驱动的多AMR通信与控制协同优化研究
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作者 罗如瑜 高天润 +2 位作者 王嘉诚 田辉 张平 《通信学报》 北大核心 2025年第12期1-13,共13页
为满足6G工业场景中多自主移动机器人(AMR)在高频、多阶段任务下的通信与控制协同需求,研究了一种融合通信增强与路径协同感知的具身智能系统。该系统由具身交互层、通信协同层与智能控制层构成,分别负责局部环境感知、下行链路增强与调... 为满足6G工业场景中多自主移动机器人(AMR)在高频、多阶段任务下的通信与控制协同需求,研究了一种融合通信增强与路径协同感知的具身智能系统。该系统由具身交互层、通信协同层与智能控制层构成,分别负责局部环境感知、下行链路增强与调度,以及集中式策略学习与在线更新。为克服传统分离式方法在动态场景依赖先验建图、通信与控制割裂等局限,引入非正交多址接入(NOMA)与多天线波束赋形耦合机制,并将任务调度、路径规划与通信资源分配统一建模为“任务-控制-通信”的联合优化问题。针对高维耦合与动态时变环境,在三层协同架构上采用分层深度强化学习方法,并行收集、集中训练和分布执行。仿真结果表明,在无环境先验条件下,所提架构能快速构建可达性与信道估计图,并在多种障碍物设置下保持较高任务完成率与通信速率,有效提升系统鲁棒性与资源利用效率。 展开更多
关键词 具身智能 自主移动机器人 非正交多址接入 深度强化学习 轨迹控制
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Mechanistic insights into cluster strengthening and grain refinement toughening in fully oxidized AgMgNi alloys 被引量:1
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作者 Haicheng Zhu Bingrui Liu +9 位作者 Shaohong Liu Limin Zhou Hao Cui Manmen Liu Li Chen Ming Wen Haigang Dong Feng Liu Song Li Liang Zuo 《Journal of Materials Science & Technology》 2025年第20期252-263,共12页
The pursuit of Ag-based alloys with both high strength and toughness has posed a longstanding chal-lenge.In this study,we investigated the cluster strengthening and grain refinement toughening mecha-nisms in fully oxi... The pursuit of Ag-based alloys with both high strength and toughness has posed a longstanding chal-lenge.In this study,we investigated the cluster strengthening and grain refinement toughening mecha-nisms in fully oxidized AgMgNi alloys,which were internally oxidized at 800℃ for 8 h under an oxy-gen atmosphere.We found that Mg-O clusters contributed to the hardening(138 HV)and strengthening(376.9 MPa)of the AgMg alloy through solid solution strengthening effects,albeit at the expense of duc-tility.To address this limitation,we introduced Ni nanoparticles into the AgMg alloy,resulting in signifi-cant grain refinement within its microstructure.Specifically,the grain size decreased from 67.2μm in the oxidized AgMg alloy to below 6.0μm in the oxidized AgMgNi alloy containing 0.3 wt%Ni.Consequently,the toughness increased significantly,rising from toughness value of 2177.9 MJ m^(-3) in the oxidized AgMg alloy to 6186.1 MJ m^(-3) in the oxidized AgMgNi alloy,representing a remarkable 2.8-fold enhancement.Furthermore,the internally oxidized AgMgNi alloy attained a strength of up to 387.6 MPa,comparable to that of the internally oxidized AgMg alloy,thereby demonstrating the successful realization of concurrent strengthening and toughening.These results collectively offer a novel approach for the design of high-performance alloys through the synergistic combination of cluster strengthening and grain refinement toughening. 展开更多
关键词 Ag-based alloys Mg-O cluster Grain refining Internal oxidation HARDENING
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Design Refinement of Catalytic System for Scale-Up Mild Nitrogen Photo-Fixation 被引量:1
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作者 Xiao Hu Wang Bin Wu +4 位作者 Yongfa Zhu Dingsheng Wang Nian Bing Li Zhichuan J.Xu Hong Qun Luo 《Nano-Micro Letters》 2025年第8期111-170,共60页
Ammonia and nitric acid,versatile industrial feedstocks,and burgeoning clean energy vectors hold immense promise for sustainable development.However,Haber–Bosch and Ostwald processes,which generates carbon dioxide as... Ammonia and nitric acid,versatile industrial feedstocks,and burgeoning clean energy vectors hold immense promise for sustainable development.However,Haber–Bosch and Ostwald processes,which generates carbon dioxide as massive by-product,contribute to greenhouse effects and pose environmental challenges.Thus,the pursuit of nitrogen fixation through carbon–neutral pathways under benign conditions is a frontier of scientific topics,with the harnessing of solar energy emerging as an enticing and viable option.This review delves into the refinement strategies for scale-up mild photocatalytic nitrogen fixation,fields ripe with potential for innovation.The narrative is centered on enhancing the intrinsic capabilities of catalysts to surmount current efficiency barriers.Key focus areas include the in-depth exploration of fundamental mechanisms underpinning photocatalytic procedures,rational element selection,and functional planning,state-of-the-art experimental protocols for understanding photo-fixation processes,valid photocatalytic activity evaluation,and the rational design of catalysts.Furthermore,the review offers a suite of forward-looking recommendations aimed at propelling the advancement of mild nitrogen photo-fixation.It scrutinizes the existing challenges and prospects within this burgeoning domain,aspiring to equip researchers with insightful perspectives that can catalyze the evolution of cutting-edge nitrogen fixation methodologies and steer the development of next-generation photocatalytic systems. 展开更多
关键词 Scale-up Mild nitrogen photo-fixation Design refinements Catalyst system Environmental sustainability
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Exceptional grain refinement induced by dispersed MgO particles in TIG-welded AZ31 alloy 被引量:1
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作者 Le Zai Xin Tong +2 位作者 Yun Wang Hao Zhang Xiaohuai Xue 《Journal of Materials Science & Technology》 2025年第2期1-13,共13页
Due to the low content of alloying elements and the lack of effective nucleation sites,the fusion zone(FZ)of tungsten inert gas(TIG)welded AZ31 alloy typically exhibits undesirable coarse columnar grains,which can res... Due to the low content of alloying elements and the lack of effective nucleation sites,the fusion zone(FZ)of tungsten inert gas(TIG)welded AZ31 alloy typically exhibits undesirable coarse columnar grains,which can result in solidification defects and reduced mechanical properties.In this work,a novel welding wire containing MgO particles has been developed to promote columnar-to-equiaxed transition(CET)in the FZ of TIG-welded AZ31 alloy.The results show the achievement of a fully equiaxed grain structure in the FZ,with a significant 71.9%reduction in grain size to 41 μm from the original coarse columnar dendrites.Furthermore,the combination of using MgO-containing welding wire and pulse current can further refine the grain size to 25.6 μm.Microstructural analyses reveal the homogeneous distribution of MgO particles in the FZ.The application of pulse current results in an increase in the number density of MgO(1-2 μm)from 5.16 × 10^(4) m^(-3) to 6.18 × 10^(4) m^(-3).The good crystallographic matching relationship between MgO and α-Mg matrix,characterized by the orientation relationship of[11(2)0]α-Mg//[0(1)1]MgO and(0002)_(α-Mg)//(111)_(MgO),indicates that the MgO particles can act as effective nucleation sites for α-Mg to reduce nucleation undercooling.According to the Hunt criteria,the critical temperature gradient for CET is greatly enhanced due to the significantly increased number density of MgO nucleation sites.In addition,the correlation with the thermal simulation results reveals a transition in the solidification conditions within the welding pool from the columnar grain zone to the equiaxed grain zone in the CET map,leading to the realization of CET.The exceptional grain refinement has contributed to a simultaneous improvement in the strength and plasticity of welded joints.This study presents a novel strategy for controlling equiaxed microstructure and optimizing mechanical properties in fusion welding or wire and arc additive manufacturing of Mg alloy components. 展开更多
关键词 AZ31 alloy TIG welding Columnar-to-equiaxed transition Grain refinement Heterogeneous nucleation
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Refinement of A356 alloy using continuous rheological extrusion Al-Ti-V-B master alloy 被引量:1
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作者 Hong-fei Jia Guang-zong Zhang +4 位作者 Shuo Zhang Da Teng Qing He Jun-wen Li Ren-guo Guan 《China Foundry》 2025年第2期222-230,共9页
Based on thermodynamic calculations and continuous rheological extrusion(CRE)technology,Al-Ti-V-B master alloys were designed and prepared.The morphology and the distribution of the refined phases in the master alloys... Based on thermodynamic calculations and continuous rheological extrusion(CRE)technology,Al-Ti-V-B master alloys were designed and prepared.The morphology and the distribution of the refined phases in the master alloys were analyzed by XRD,SEM,and TEM.The effects of master alloy addition and holding time on the microstructure and mechanical properties of A356 alloy were investigated.Under the optimum refiner addition of 0.3wt.%and the holding time of 20 min,the average grain size of the refined A356 alloy is 151.8±9.11μm,89.62%lower than that of original A356 alloy.The tensile strength and elongation of as-cast A356refined alloy are 196.11 MPa and 5.75%,respectively.After T6 treatment,the tensile strength and elongation of A356 refined alloy are 290.1 MPa and 3.09%,respectively.The fracture morphology is characterized by a predominance of along-crystal fracture with a small amount of through-crystal fracture,attributed to the refined grains.Finer grains promote crack path deflection and localized plastic deformation,enhancing energy dissipation and reducing the tendency for brittle fracture.This study provides a novel approach to improving the mechanical properties of A356 alloy through grain refinement using CRE Al-Ti-V-B master alloy. 展开更多
关键词 A356 alloy continuous rheological extrusion grain refinement Al-Ti-V-B master alloy mechanical properties
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Development and clinical evaluation of a supramolecular acid-enzyme complex for skin exfoliation,sebum control,and pore refinement 被引量:1
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作者 Huwu Zhou Wenrong Zhang +3 位作者 Xuewan Li Rongrong Li Changzhi Dong Lifeng Tang 《Journal of Dermatologic Science and Cosmetic Technology》 2025年第3期37-44,共8页
Background:Enzyme fragility remains a major challenge in research and applications.Free enzymes are highly unstable,inactivated by heat,acid,alkali,or organic solvents,and often lose activity even under optimal storag... Background:Enzyme fragility remains a major challenge in research and applications.Free enzymes are highly unstable,inactivated by heat,acid,alkali,or organic solvents,and often lose activity even under optimal storage conditions.Limiting their use in cosmetics.Few commercial products combine acids and enzymes effectively.Objective:To investigate the physicochemical properties,in vitro exfoliation efficacy,and effects on facial skin parameters of a supramolecular acid-enzyme complex(SAE)composed of mandelic acid(MAN),betaine(BET),and composite enzymes(CE;papain and bromelain),thereby establishing a theoretical foundation for cosmetic applications.Methods:The supramolecular structure was characterized using Fourier transform infrared(FTIR)spectroscopy and proton nuclear magnetic resonance(1H NMR)spectroscopy.Dissolution experiments were conducted to compare the solubility of SAE and CE in aqueous solutions.Enzymatic activity assays evaluated the stabilizing effect of supramolecular deep eutectic technology on enzymes.In vitro exfoliation tests assessed acid-enzyme synergy in keratin removal.A 4-week clinical trial evaluated the efficacy of a 2%SAE essence aqueous solution on facial skin parameters.Results:Dissolution experiments confirmed that supramolecular deep eutectic technology significantly improved enzyme solubility.Enzymatic activity tests demonstrated that this technology effectively preserved protease activity,substantially enhancing its practical applicability.Furthermore,in vitro exfoliation efficacy tests revealed that this technology strengthened the synergistic interaction between acids and enzymes and exhibited superior stratum corneum-removing capability of the SAE.In clinical evaluations of efficacy,after 7 days of using the essence containing SAE,the formulation significantly enhanced cheek gloss(+8.08%),while reducing comedones volume(-16.25%).after 28 days,significantly enhanced cheek hydration(+25.0%,SCH),gloss(+15.93%),and smoothness(−7.78%SEsm),while reducing TEWL(−6.86%),sebum(−15.54%),roughness(+16.24%SEr),and pore metrics(volume:−39.98%;count:−30.64%),and decreased comedones(blackheads:−70.33%;Whiteheads:−52.42%;all p<0.05).Conclusion:The supramolecular acid-enzyme complex demonstrates enhanced stability,improved solubility,and superior exfoliation efficacy compared to free enzymes.Clinical results further confirm its multifunctional benefits,including enhancing skin hydration,sebum regulation,barrier repair,pore refinement,and comedolytic effects.This study provides both theoretical and practical foundations for developing stable acid-enzyme combinations in dermatological applications. 展开更多
关键词 Supramolecular acid-enzyme complex Acid-enzyme synergy Enzymatic stability Cosmetic exfoliation Sebum regulation Pore refinement Comedolytic effects
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Laser additive manufacturing of Ti and Ce co-modified 2195 difficult-to-process aluminum alloy:Grain refinement,cracking suppression and enhanced mechanical properties 被引量:1
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作者 Lixia XI Jiaxing HOU +3 位作者 Juncan XU He LIU Keyu SHI Dongdong GU 《Chinese Journal of Aeronautics》 2025年第8期604-621,共18页
High cracking susceptibility of Al-Li alloys with Ti/Ce B6addition is thoroughly suppressed in laser powder bed fusion(LPBF)processing of Ti/Ce co-modified 2195 alloys at relatively high scan speeds,while the cracking... High cracking susceptibility of Al-Li alloys with Ti/Ce B6addition is thoroughly suppressed in laser powder bed fusion(LPBF)processing of Ti/Ce co-modified 2195 alloys at relatively high scan speeds,while the cracking suppression mechanism and phase formation in these composites are not clarified.In this work,microstructure evolution and mechanical performance of the LPBF-fabricated Ti/Ce co-modified 2195 are investigated to reveal their cracking suppression and strengthening mechanisms.The results show that apparent grain refinement of the composites is ascribed to high supercooling from rapid formation of constitutional supercooling zone in front of solid–liquid interfaces by high-Q-value Ti solute,and heterogeneous nucleation of in situ formed Al3Ti and Al11Ce3precipitates.Their synergistic interactions promote formation of fine equiaxed grains and thus inhibit crack initiation.The composites exhibit high microhardness of 100±5HV0.2,nano-hardness of 1.6±0.1 GPa and elastic modulus of 97±3 GPa,where the elastic modulus increases by 27%and 31%compared to those of LPBF-processed and conventionally manufactured 2195 alloys,respectively.A tensile strength of 336 MPa and an elongation of 3%are obtained from in-situ synchrotron X-ray diffraction measurement.The improved properties are derived from grain refinement and Orowan strengthening.Based on the optimal processing parameter and composition,a bracket component filled with lattice structures is designed and manufactured with good manufacturing quality and processing accuracy. 展开更多
关键词 Laser powder bed fusion Ti/Ce co-modified 2195 alloy Grain refinement Cracking suppression Mechanical property
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Synchronous enhancement of corrosion resistance and mechanical properties of Mg-Zn-Ca alloys by grain refinement using equal channel angular pressing 被引量:1
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作者 Yi-zhuo WANG Xiao-ping LUO +6 位作者 Gang-xiao REN Hong-xia WANG Li-fei WANG Wei-li CHENG Hang LI Xiao-peng LU Kwang-seon SHIN 《Transactions of Nonferrous Metals Society of China》 2025年第6期1772-1786,共15页
To investigate the effect of microstructure evolution on corrosion behavior and strengthening mechanism of Mg-1Zn-1Ca(wt.%)alloys,as-cast Mg-1Zn-1Ca alloys were performed by equal channel angular pressing(ECAP)with 1 ... To investigate the effect of microstructure evolution on corrosion behavior and strengthening mechanism of Mg-1Zn-1Ca(wt.%)alloys,as-cast Mg-1Zn-1Ca alloys were performed by equal channel angular pressing(ECAP)with 1 and 4 passes.The corrosion behavior and mechanical properties of alloys were investigated by optical microscopy(OM),scanning electron microscopy(SEM),electron backscatter diffraction(EBSD),electrochemical tests,immersion tests and tensile tests.The results showed that mechanical properties improved after ECAP 1 pass;however,the corrosion resistance deteriorated due to high-density dislocations and fragmented secondary phases by ECAP.In contrast,synchronous improvement in the mechanical properties and corrosion resistance was achieved though grain refinement after ECAP 4 passes;fine grains led to a significant improvement in the yield strength,ultimate tensile strength,elongation,and corrosion rate of 103 MPa,223 MPa,30.5%,and 1.5843 mm/a,respectively.The enhanced corrosion resistance was attributed to the formation of dense corrosion product films by finer grains and the barrier effect by high-density grain boundaries.These results indicated that Mg-1Zn-1Ca alloy has a promising potential for application in biomedical materials. 展开更多
关键词 Mg−1Zn−1Ca alloy equal channel angular pressing grain refinement corrosion behavior mechanical properties
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从AGV到AMR:物流机器人的技术演进、挑战与趋势
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作者 王子鸣 《高科技与产业化》 2025年第12期9-11,共3页
传统自动导引运输车(AGV)通常依赖预设路径完成货物分拣递送,缺乏灵活性。近年来,电商爆发,订单量持续上涨,以及多品种、小批次的柔性制造要求给物流业带来新的挑战。自主移动机器人(AMR)凭借灵活规划路径与智能环境交互逐步取代AGV成... 传统自动导引运输车(AGV)通常依赖预设路径完成货物分拣递送,缺乏灵活性。近年来,电商爆发,订单量持续上涨,以及多品种、小批次的柔性制造要求给物流业带来新的挑战。自主移动机器人(AMR)凭借灵活规划路径与智能环境交互逐步取代AGV成为智能物流的热门。从AGV至AMR的技术演进历程,包含内在与外在驱动因素,通过对比在不同场景下的性能差异,针对路径规划、多机协同等痛点提出优化方案。未来,AMR依靠与5G/6G、高精度导航、人机交互等方面的融合可以实现进一步的迭代更新。 展开更多
关键词 物流机器人 AGV 技术演进 amr 路径规划
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基于AMR的新型烟箱自动上料输送系统设计
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作者 齐先勇 王力 简金领 《自动化与仪表》 2025年第7期43-46,50,共5页
在烟草行业中,高效的物料处理和输送是保证生产连续性和产品质量的重要环节。随着自动化技术的发展,自动上料输送系统逐渐成为提升烟草加工生产线效率的关键因素。针对现有技术的不足,提供工装及其方法,可对接AMR形式,结构紧凑,可采用20... 在烟草行业中,高效的物料处理和输送是保证生产连续性和产品质量的重要环节。随着自动化技术的发展,自动上料输送系统逐渐成为提升烟草加工生产线效率的关键因素。针对现有技术的不足,提供工装及其方法,可对接AMR形式,结构紧凑,可采用20 kg负载,1650 mm臂展的协作机器人,无需另外设安全围栏,使得设备整体更加美观,采用视觉监测系统,通过3D相机来识别纸箱的相对位置,使机器人可以实现自适应抓取,采用伺服电机驱动模组,带动相机移动可实现2个工位,可以有效解决实际生产中的问题。展示了自动上料输送系统在提高生产效率、减少人力成本、优化工作环境和增强质量控制等方面的显著效果。特别是,该系统能够大幅缩短上料时间,降低劳动强度,并且通过精确控制物料流量,有效防止过载或不足的情况发生,从而保证了后续工序的稳定运行。 展开更多
关键词 烟草 自动上料输送系统 amr
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