The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu...The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.展开更多
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec...Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.展开更多
This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in ...This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in existing models by unifying fuzzy logic,the consideration of bipolarity,and the ability to evaluate attributes on a multinary scale.The specific contributions of the FN-BS framework include:(1)a formal definition and settheoretic foundation,(2)the development of two innovative algorithms for solving decision-making(DM)problems,and(3)a comparative analysis demonstrating its superiority over established models.The proposed framework is applied to a real-world case study on selecting vaccination programs across multiple countries,showcasing consistent DM outcomes and exceptional adaptability to complex and uncertain scenarios.These results position FN-BS sets as a versatile and powerful tool for addressing dynamic DM challenges.展开更多
近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(So...近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(Soft Deep Deterministic Policy Gradient,Soft-DDPG)算法驱动的综合能源系统优化调度方法,以最小化调度周期内系统总运行成本为目标,建立设备运行综合能效评估模型,再采用Soft-DDPG算法对每个能源设备的能效调度动作进行优化控制.Soft-DDPG算法将softmax算子引入到动作值函数的计算中,有效降低了Q值高估问题.与此同时,该算法在动作选择策略中加入了随机噪声,提高了算法的学习效率.实验结果显示,本文所提出的方法解决了综合能源系统能效调度实时性差、精准度低的瓶颈问题,实现了系统的高效灵活调度,降低了系统的总运行成本.展开更多
Owing to the presence of large residual internal stress during cold compaction,it is difficult to optimize the multiple high-frequency magnetic properties of amorphous soft magnetic composites(ASMCs)simultaneously.Her...Owing to the presence of large residual internal stress during cold compaction,it is difficult to optimize the multiple high-frequency magnetic properties of amorphous soft magnetic composites(ASMCs)simultaneously.Here,a surface nanoengineering strategy was proposed to address the above dilemma by constructing a stress buffer layer composed of amorphous nano-particles,between amorphous powder and insulation coating.The amorphous FeSiBCCr@x wt.%FeB(x=0.5,1,3)composite powders with coreshell structures were successfully prepared via an in-situ chemical reduction method.Especially,when the composite ratio of nano-particles is 1 wt.%,the comprehensive properties of the ASMC reach the best balance.Compared with the FeSiBCCr ASMC,the saturation magnetization of the modified ASMC enhances from 153 to 171 emu/g.Meanwhile,the core loss decreases by 28.25%,while the effective permeability increases by 25% and can stabilize to∼20 MHz.Therefore,our work provides a strategy for achieving superior comprehensive soft magnetic properties of ASMCs via surface nanoengineering,which presents enormous application potential in high-frequency electric devices.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-toler...Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.展开更多
Urban transportation planning involves evaluating multiple conflicting criteria such as accessibility,cost-effectiveness,and environmental impact,often under uncertainty and incomplete information.These complex decisi...Urban transportation planning involves evaluating multiple conflicting criteria such as accessibility,cost-effectiveness,and environmental impact,often under uncertainty and incomplete information.These complex decisions require input from various stakeholders,including planners,policymakers,engineers,and community representatives,whose opinions may differ or contradict.Traditional decision-making approaches struggle to effectively handle such bipolar and multivalued expert evaluations.To address these challenges,we propose a novel decisionmaking framework based on Pythagorean fuzzy N-bipolar soft expert sets.This model allows experts to express both positive and negative opinions on a multinary scale,capturing nuanced judgments with higher accuracy.It introduces algebraic operations and a structured aggregation algorithm to systematically integrate and resolve conflicting expert inputs.Applied to a real-world case study,the framework evaluated five urban transport strategies based on key criteria,producing final scores as follows:improving public transit(−0.70),optimizing traffic signal timing(1.86),enhancing pedestrian infrastructure(3.10),expanding bike lanes(0.59),and implementing congestion pricing(0.77).The results clearly identify enhancing pedestrian infrastructure as the most suitable option,having obtained the highest final score of 3.10.Comparative analysis demonstrates the framework’s superior capability in modeling expert consensus,managing uncertainty,and supporting transparent multi-criteria group decision-making.展开更多
降维对于数据的可视化和预处理具有重要意义,主成分分析作为最常用的无监督降维算法之一,在实际应用中面临着对噪声和离群点敏感的问题。为了解决这个问题,研究者们提出了多种鲁棒主成分分析算法,通过减小整体样本的重构误差来减小离群...降维对于数据的可视化和预处理具有重要意义,主成分分析作为最常用的无监督降维算法之一,在实际应用中面临着对噪声和离群点敏感的问题。为了解决这个问题,研究者们提出了多种鲁棒主成分分析算法,通过减小整体样本的重构误差来减小离群点的影响。然而,这些算法忽略了数据的固有局部结构,导致数据的本质结构信息丢失,从而影响了对噪声和离群点的准确辨识和移除,进而影响了后续算法的性能。因此,该文提出了基于Soft均值滤波的鲁棒主成分分析(Robust Principal Component Analysis Based on Soft Mean Filtering,RPCA-SMF)算法。RPCA-SMF采用Soft均值滤波的思想,通过两步走的形式,不仅在模型学习前对噪声处理,同时在模型学习后也引入了噪声处理机制。具体而言,RPCA-SMF算法首先引入了均值滤波的相关思想,通过对比样本与其局部近邻这两者和局部均值的偏差对样本进行Soft加权,从而对噪声进行判定。随后,通过第一步获取的关于噪声的“判别知识”处理噪声信息。由于均值滤波能有效保留数据的整体轮廓信息,因此对于被识别为噪声的样本,RPCA-SMF算法强调保留其低频整体轮廓信息,而非高频的噪声信息。这样能够有效地保留数据中的有用信息,提高对数据整体结构特征的保留能力,使得算法具有较强的鲁棒性和较好的泛化性。展开更多
针对人类示教轨迹样本存在的时间和空间不对齐导致难以提取运动特征的问题,首先提出了基于典型时间规整(Canonical Time Warping,CTW)算法用于多条轨迹对齐的方法,并将其引入到软-动态时间规整(soft-dynamic time warping,soft-DTW)算...针对人类示教轨迹样本存在的时间和空间不对齐导致难以提取运动特征的问题,首先提出了基于典型时间规整(Canonical Time Warping,CTW)算法用于多条轨迹对齐的方法,并将其引入到软-动态时间规整(soft-dynamic time warping,soft-DTW)算法中以提取轨迹模板,其次在CTW算法中引入了一个新的变量,以提升CTW算法在对齐多条轨迹方面的能力;最后,在实验中利用多种轨迹验证了所提出的轨迹模板提取方法,实验结果表明所提出的方法可以从人类示教轨迹中快速地提取共有的运动特征,并且对示教轨迹在时间和空间上的差异具有较好的鲁棒性.展开更多
Biomass-derived hard carbon is becoming promising anodes for potassium-ion batteries(PIBs)thanks to their resource abundance.Yet,it is a big challenge to improve the charge carrier kinetics of the disordered carbon la...Biomass-derived hard carbon is becoming promising anodes for potassium-ion batteries(PIBs)thanks to their resource abundance.Yet,it is a big challenge to improve the charge carrier kinetics of the disordered carbon lattice in hard carbon.Herein,confined pitch-based soft carbon in pollen-derived hard carbon(PSC/PHC)is synthesized by vapor deposition strategy as anodes for PIBs.The ordered pitch-based soft carbon compensates for the short-range electron conduction in hard carbon to enhance the charge transfer kinetics,and the externally disordered pollen-derived hard carbon alleviates the volume change of soft carbon during cycling.Benefiting from the synergistic effect of soft and hard carbon,as well as the reinforced structure of order-in-disordered carbon,the PSC/PHC obtained with deposition time of 0.5 h(PSC/PHC-0.5)displays an excellent rate capability(148.7 mAh g^(-1)at 10 A g^(-1))and superb cycling stability(70%retention over 2000 cycles at 1 A g^(-1)).This work offers a unique insight in tuning the microcrystalline structure of soft-hard carbon anode for advanced PIBs.展开更多
Using the new soft X-ray data from the Macao Science Satellite-1,we studied a solar flare that occurred on 22 June 2023.We found that the centroids of the Ca(around 3.9 keV)and Fe(around 6.7 keV)line features exhibit ...Using the new soft X-ray data from the Macao Science Satellite-1,we studied a solar flare that occurred on 22 June 2023.We found that the centroids of the Ca(around 3.9 keV)and Fe(around 6.7 keV)line features exhibit a rapid shift toward higher energy channels during the flare's rising phase,followed by a gradual decrease during the decay phase.Through precise energy calibration,the centroids are determined with high accuracy.Temperature and velocity are then self-consistently derived by comparing the centroids with those calculated from the synthesized line features using the latest CHIANTI atomic database(ver.10.1).The calculated maximum velocity reaches up to 710±60 km s-1,which significantly exceeds the previously reported values.Our results suggest that the entire shift of soft X-ray lines may occur during the process of chromospheric evaporation.展开更多
Surrounding rock deterioration and large deformation have always been a significant difficulty in designing and constructing tunnels in soft rock.The key lies in real-time perception and quantitative assessment of the...Surrounding rock deterioration and large deformation have always been a significant difficulty in designing and constructing tunnels in soft rock.The key lies in real-time perception and quantitative assessment of the damaged area around the tunnel.An in situ microseismic(MS)monitoring system is established in the plateau soft tock tunnel.This technique facilitates spatiotemporal monitoring of the rock mass's fracturing expansion and squeezing deformation,which agree well with field convergence deformation results.The formation mechanisms of progressive failure evolution of soft rock tunnels were discussed and analyzed with MS data and numerical results.The results demonstrate that:(1)Localized stress concentration and layered rock result in significant asymmetry in micro-fractures propagation in the tunnel radial section.As excavation continues,the fracture extension area extends into the deep surrounding rockmass on the east side affected by the weak bedding;(2)Tunnel excavation and long-term deformation can induce tensile shear action on the rock mass,vertical tension fractures(account for 45%)exist in deep rockmass,which play a crucial role in controlling the macroscopic failure of surrounding rock;and(3)Based on the radiated MS energy,a three-dimensional model was created to visualize the damage zone of the tunnel surrounding rock.The model depicted varying degrees of damage,and three high damage zones were identified.Generally,the depth of high damage zone ranged from 4 m to 12 m.This study may be a valuable reference for the warning and controlling of large deformations in similar projects.展开更多
FeSiAl-based soft magnetic composites(SMCs),prepared from insulated FeSiAl powders,are widely applied in electronic devices.However,it is still challenging to achieve high magnetic and mechanical properties simultaneo...FeSiAl-based soft magnetic composites(SMCs),prepared from insulated FeSiAl powders,are widely applied in electronic devices.However,it is still challenging to achieve high magnetic and mechanical properties simultaneously due to the undesirable insulation layer.Here,double Al_(2)O_(3) insulation layers are prepared for FeSiAl SMC.Atomic-scale characterizations reveal an in-situ epitaxial Al_(2)O_(3) layer at FeSiAl surface under the catalysis of NaAlO_(2),and an outer amorphous Al_(2)O_(3) layer by subsequent NaAlO2 hydrolysis.The above structure ensures effective insulation of FeSiAl powders and excellent magnetic properties of the FeSiAl/NaAlO2 SMC,with permeability of 101 and power loss of 128 mW/cm^(3)(50 mT,100 kHz)respectively.Moreover,in-situ Al_(2)O_(3)/amorphous Al_(2)O_(3) on FeSiAl matrix also leads to distinguished crush strength of 36.5 MPa for the core sample,which is ascribed to the enhanced adhesion at different interfaces as evidenced by similar local oxygen coordination and low strain distribution.This work provides a novel method to fabricate high-performance FeSiAl SMCs.展开更多
In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft...In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.展开更多
Nature evolves soft but structural architectures with typical wet/lubricous/adhesive behavior,as well as tunable interface functionalities,such as superhydrophilicity,superhydrophobic,superlubricity,high adhesion,etc....Nature evolves soft but structural architectures with typical wet/lubricous/adhesive behavior,as well as tunable interface functionalities,such as superhydrophilicity,superhydrophobic,superlubricity,high adhesion,etc.In order to simulate this,new chemistry modification methods,novel polymers materials and advanced manufacture techniques are developed for engineering diverse bioinspired wet/lubricous/adhesive soft matter systems.This review focuses on two typical interface functionalities of soft architectures in nature:wet lubrication and wet adhesion.Correspondingly,systematic summaries of recent progress for constructing bioinspired wet/lubricious/adhesive soft matter systems are proposed,including the surface grafting methods to construct hydrophilic wet lubrication surfaces,the bionic design of mechanically robust and structured soft matter lubrication materials,the novel preparation of high-performance biomimetic wet adhesion materials,and the advanced manufacture of 3D soft matter-based wet/lubricious devices.Subsequently,the current strategies relying on diverse regulation factors including surface hydration/roughness,surface intrinsic states,bulk mechanics,as well as multi-factors synergy,are introduced and discussed for achieving dynamic friction or adhesion control of bioinspired soft matter lubrication/adhesion systems.Finally,the existing problems,challenges and future development directions of bioinspired wet/lubricious/adhesive soft matter materials and devices are discussed.This review provides clear guidance for designing bioinspired soft matter-based lubrication,adhesion,or adhesion-lubrication switchable systems,and would act as a necessary research handbook in the field of surface/interface wettability engineering,bioengineering,medical devices,soft robotics,etc.展开更多
During restorative dental procedures,complete control over the operative site is critical for patient comfort,safety,and the operator’s access and visibility.The success of a fixed prosthesis depends on accurate impr...During restorative dental procedures,complete control over the operative site is critical for patient comfort,safety,and the operator’s access and visibility.The success of a fixed prosthesis depends on accurate impression making of the prepared finish lines on the abutment teeth.To optimise long-term outcomes for the fixed restoration,gingival retraction techniques should be used to decrease the marginal discrepancy among the restoration and the prepared abutment.Accurate marginal positioning of the restoration along the prepared finish line of the abutment is essential for therapeutic,preventive,and aesthetic purposes.展开更多
A 100-channel double-foil soft X-ray array imaging(DSXAI)diagnostic system has been developed for the HL-2A tokamak to obtain tomographic bremsstrahlung emissivity and electron temperature(T_(e)).This system employs a...A 100-channel double-foil soft X-ray array imaging(DSXAI)diagnostic system has been developed for the HL-2A tokamak to obtain tomographic bremsstrahlung emissivity and electron temperature(T_(e)).This system employs a double-foil technique to determine T_(e) by comparing the soft X-ray(SXR)emissivities from the same plasma location through two beryllium(Be)foils of differing thickness.The DSXAI system comprises five photocameras mounted at two different poloidal cross-sections,separated toroidally by 15°,allowing for three distinct poloidal viewing angles.Each photocamera features 20 channels,offering a temporal resolution of approximately 4μs and a spatial resolution of about 8 cm,with no channel overlap.Each photocamera contains two identical optical systems,each defined by an aperture slit and a photodiode array.The double-foil configuration is realized by placing these two optical systems,each with a different Be foil,in close proximity.Initial experimental results demonstrate that the DSXAI diagnostic system performs well,successfully reconstructing 2-dimensional(2D)tomographic SXR emissivity and T_(e) on the HL-2A tokamak.This study provides valuable insights for the future implementation of similar diagnostic systems on fusion reactors like ITER.展开更多
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.
文摘This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in existing models by unifying fuzzy logic,the consideration of bipolarity,and the ability to evaluate attributes on a multinary scale.The specific contributions of the FN-BS framework include:(1)a formal definition and settheoretic foundation,(2)the development of two innovative algorithms for solving decision-making(DM)problems,and(3)a comparative analysis demonstrating its superiority over established models.The proposed framework is applied to a real-world case study on selecting vaccination programs across multiple countries,showcasing consistent DM outcomes and exceptional adaptability to complex and uncertain scenarios.These results position FN-BS sets as a versatile and powerful tool for addressing dynamic DM challenges.
文摘近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(Soft Deep Deterministic Policy Gradient,Soft-DDPG)算法驱动的综合能源系统优化调度方法,以最小化调度周期内系统总运行成本为目标,建立设备运行综合能效评估模型,再采用Soft-DDPG算法对每个能源设备的能效调度动作进行优化控制.Soft-DDPG算法将softmax算子引入到动作值函数的计算中,有效降低了Q值高估问题.与此同时,该算法在动作选择策略中加入了随机噪声,提高了算法的学习效率.实验结果显示,本文所提出的方法解决了综合能源系统能效调度实时性差、精准度低的瓶颈问题,实现了系统的高效灵活调度,降低了系统的总运行成本.
基金financially supported by Guangdong Major Project of Basic and Applied Basic Research,China(No.2019B030302010)the National Natural Science Foundation of China(Nos.52071222,52301212,52101191,52192601,52192602,52192603)+1 种基金the National Key Research and Development Program of China(No.2021YFA0716302)Dongguan Key Research and Development Projects(No.20221200300062).
文摘Owing to the presence of large residual internal stress during cold compaction,it is difficult to optimize the multiple high-frequency magnetic properties of amorphous soft magnetic composites(ASMCs)simultaneously.Here,a surface nanoengineering strategy was proposed to address the above dilemma by constructing a stress buffer layer composed of amorphous nano-particles,between amorphous powder and insulation coating.The amorphous FeSiBCCr@x wt.%FeB(x=0.5,1,3)composite powders with coreshell structures were successfully prepared via an in-situ chemical reduction method.Especially,when the composite ratio of nano-particles is 1 wt.%,the comprehensive properties of the ASMC reach the best balance.Compared with the FeSiBCCr ASMC,the saturation magnetization of the modified ASMC enhances from 153 to 171 emu/g.Meanwhile,the core loss decreases by 28.25%,while the effective permeability increases by 25% and can stabilize to∼20 MHz.Therefore,our work provides a strategy for achieving superior comprehensive soft magnetic properties of ASMCs via surface nanoengineering,which presents enormous application potential in high-frequency electric devices.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金supported by the Liaoning Revitalization Talents Program(XLYC2203148)
文摘Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.
文摘Urban transportation planning involves evaluating multiple conflicting criteria such as accessibility,cost-effectiveness,and environmental impact,often under uncertainty and incomplete information.These complex decisions require input from various stakeholders,including planners,policymakers,engineers,and community representatives,whose opinions may differ or contradict.Traditional decision-making approaches struggle to effectively handle such bipolar and multivalued expert evaluations.To address these challenges,we propose a novel decisionmaking framework based on Pythagorean fuzzy N-bipolar soft expert sets.This model allows experts to express both positive and negative opinions on a multinary scale,capturing nuanced judgments with higher accuracy.It introduces algebraic operations and a structured aggregation algorithm to systematically integrate and resolve conflicting expert inputs.Applied to a real-world case study,the framework evaluated five urban transport strategies based on key criteria,producing final scores as follows:improving public transit(−0.70),optimizing traffic signal timing(1.86),enhancing pedestrian infrastructure(3.10),expanding bike lanes(0.59),and implementing congestion pricing(0.77).The results clearly identify enhancing pedestrian infrastructure as the most suitable option,having obtained the highest final score of 3.10.Comparative analysis demonstrates the framework’s superior capability in modeling expert consensus,managing uncertainty,and supporting transparent multi-criteria group decision-making.
文摘降维对于数据的可视化和预处理具有重要意义,主成分分析作为最常用的无监督降维算法之一,在实际应用中面临着对噪声和离群点敏感的问题。为了解决这个问题,研究者们提出了多种鲁棒主成分分析算法,通过减小整体样本的重构误差来减小离群点的影响。然而,这些算法忽略了数据的固有局部结构,导致数据的本质结构信息丢失,从而影响了对噪声和离群点的准确辨识和移除,进而影响了后续算法的性能。因此,该文提出了基于Soft均值滤波的鲁棒主成分分析(Robust Principal Component Analysis Based on Soft Mean Filtering,RPCA-SMF)算法。RPCA-SMF采用Soft均值滤波的思想,通过两步走的形式,不仅在模型学习前对噪声处理,同时在模型学习后也引入了噪声处理机制。具体而言,RPCA-SMF算法首先引入了均值滤波的相关思想,通过对比样本与其局部近邻这两者和局部均值的偏差对样本进行Soft加权,从而对噪声进行判定。随后,通过第一步获取的关于噪声的“判别知识”处理噪声信息。由于均值滤波能有效保留数据的整体轮廓信息,因此对于被识别为噪声的样本,RPCA-SMF算法强调保留其低频整体轮廓信息,而非高频的噪声信息。这样能够有效地保留数据中的有用信息,提高对数据整体结构特征的保留能力,使得算法具有较强的鲁棒性和较好的泛化性。
文摘针对人类示教轨迹样本存在的时间和空间不对齐导致难以提取运动特征的问题,首先提出了基于典型时间规整(Canonical Time Warping,CTW)算法用于多条轨迹对齐的方法,并将其引入到软-动态时间规整(soft-dynamic time warping,soft-DTW)算法中以提取轨迹模板,其次在CTW算法中引入了一个新的变量,以提升CTW算法在对齐多条轨迹方面的能力;最后,在实验中利用多种轨迹验证了所提出的轨迹模板提取方法,实验结果表明所提出的方法可以从人类示教轨迹中快速地提取共有的运动特征,并且对示教轨迹在时间和空间上的差异具有较好的鲁棒性.
基金partly supported by the National Natural Science Foundation of China(52072002,52372037,and 22108003)the Postdoctoral Fellowship Program of CPSF(GZC20230015)+2 种基金the Outstanding Scientific Research and Innovation Team Program of Higher Education Institutions of Anhui Province(2023AH010015)the Excellent Young Talents Fund Program of Higher Education Institutions of Anhui Province(2023AH030026)financial support from the Anhui International Research Center of Energy Materials Green Manufacturing and Biotechnology。
文摘Biomass-derived hard carbon is becoming promising anodes for potassium-ion batteries(PIBs)thanks to their resource abundance.Yet,it is a big challenge to improve the charge carrier kinetics of the disordered carbon lattice in hard carbon.Herein,confined pitch-based soft carbon in pollen-derived hard carbon(PSC/PHC)is synthesized by vapor deposition strategy as anodes for PIBs.The ordered pitch-based soft carbon compensates for the short-range electron conduction in hard carbon to enhance the charge transfer kinetics,and the externally disordered pollen-derived hard carbon alleviates the volume change of soft carbon during cycling.Benefiting from the synergistic effect of soft and hard carbon,as well as the reinforced structure of order-in-disordered carbon,the PSC/PHC obtained with deposition time of 0.5 h(PSC/PHC-0.5)displays an excellent rate capability(148.7 mAh g^(-1)at 10 A g^(-1))and superb cycling stability(70%retention over 2000 cycles at 1 A g^(-1)).This work offers a unique insight in tuning the microcrystalline structure of soft-hard carbon anode for advanced PIBs.
文摘Using the new soft X-ray data from the Macao Science Satellite-1,we studied a solar flare that occurred on 22 June 2023.We found that the centroids of the Ca(around 3.9 keV)and Fe(around 6.7 keV)line features exhibit a rapid shift toward higher energy channels during the flare's rising phase,followed by a gradual decrease during the decay phase.Through precise energy calibration,the centroids are determined with high accuracy.Temperature and velocity are then self-consistently derived by comparing the centroids with those calculated from the synthesized line features using the latest CHIANTI atomic database(ver.10.1).The calculated maximum velocity reaches up to 710±60 km s-1,which significantly exceeds the previously reported values.Our results suggest that the entire shift of soft X-ray lines may occur during the process of chromospheric evaporation.
基金the funding support from the National Natural Science Foundation of China(Grant Nos.U23A2060,42177143 and 42277461).
文摘Surrounding rock deterioration and large deformation have always been a significant difficulty in designing and constructing tunnels in soft rock.The key lies in real-time perception and quantitative assessment of the damaged area around the tunnel.An in situ microseismic(MS)monitoring system is established in the plateau soft tock tunnel.This technique facilitates spatiotemporal monitoring of the rock mass's fracturing expansion and squeezing deformation,which agree well with field convergence deformation results.The formation mechanisms of progressive failure evolution of soft rock tunnels were discussed and analyzed with MS data and numerical results.The results demonstrate that:(1)Localized stress concentration and layered rock result in significant asymmetry in micro-fractures propagation in the tunnel radial section.As excavation continues,the fracture extension area extends into the deep surrounding rockmass on the east side affected by the weak bedding;(2)Tunnel excavation and long-term deformation can induce tensile shear action on the rock mass,vertical tension fractures(account for 45%)exist in deep rockmass,which play a crucial role in controlling the macroscopic failure of surrounding rock;and(3)Based on the radiated MS energy,a three-dimensional model was created to visualize the damage zone of the tunnel surrounding rock.The model depicted varying degrees of damage,and three high damage zones were identified.Generally,the depth of high damage zone ranged from 4 m to 12 m.This study may be a valuable reference for the warning and controlling of large deformations in similar projects.
基金supported by the National Science Fund for Distinguished Young Scholars(No.52225312)National Natu-ral Science Foundation of China(Nos.52271173,52377022,and U23A20548)+1 种基金Key Research and Development Program of Zhejiang Province(No.2021C01193)Zhejiang Provincial Natural Science Foundation of China(No.LY23E010007).
文摘FeSiAl-based soft magnetic composites(SMCs),prepared from insulated FeSiAl powders,are widely applied in electronic devices.However,it is still challenging to achieve high magnetic and mechanical properties simultaneously due to the undesirable insulation layer.Here,double Al_(2)O_(3) insulation layers are prepared for FeSiAl SMC.Atomic-scale characterizations reveal an in-situ epitaxial Al_(2)O_(3) layer at FeSiAl surface under the catalysis of NaAlO_(2),and an outer amorphous Al_(2)O_(3) layer by subsequent NaAlO2 hydrolysis.The above structure ensures effective insulation of FeSiAl powders and excellent magnetic properties of the FeSiAl/NaAlO2 SMC,with permeability of 101 and power loss of 128 mW/cm^(3)(50 mT,100 kHz)respectively.Moreover,in-situ Al_(2)O_(3)/amorphous Al_(2)O_(3) on FeSiAl matrix also leads to distinguished crush strength of 36.5 MPa for the core sample,which is ascribed to the enhanced adhesion at different interfaces as evidenced by similar local oxygen coordination and low strain distribution.This work provides a novel method to fabricate high-performance FeSiAl SMCs.
文摘In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.
基金supported by the National Natural Science Foundation of China(22032006,52075522,52322506)West Light Foundation of The Chinese Academy of Sciences(xbzg-zdsys-202211)+2 种基金Major Science and Technology Project of Gansu Province(No.23ZDGA011)the Youth Innovation Promotion Association of The Chinese Academy of Sciences(Y2023114)Key Research Project of Shandong Provincial Natural Science Foundation(ZR2021ZD27).
文摘Nature evolves soft but structural architectures with typical wet/lubricous/adhesive behavior,as well as tunable interface functionalities,such as superhydrophilicity,superhydrophobic,superlubricity,high adhesion,etc.In order to simulate this,new chemistry modification methods,novel polymers materials and advanced manufacture techniques are developed for engineering diverse bioinspired wet/lubricous/adhesive soft matter systems.This review focuses on two typical interface functionalities of soft architectures in nature:wet lubrication and wet adhesion.Correspondingly,systematic summaries of recent progress for constructing bioinspired wet/lubricious/adhesive soft matter systems are proposed,including the surface grafting methods to construct hydrophilic wet lubrication surfaces,the bionic design of mechanically robust and structured soft matter lubrication materials,the novel preparation of high-performance biomimetic wet adhesion materials,and the advanced manufacture of 3D soft matter-based wet/lubricious devices.Subsequently,the current strategies relying on diverse regulation factors including surface hydration/roughness,surface intrinsic states,bulk mechanics,as well as multi-factors synergy,are introduced and discussed for achieving dynamic friction or adhesion control of bioinspired soft matter lubrication/adhesion systems.Finally,the existing problems,challenges and future development directions of bioinspired wet/lubricious/adhesive soft matter materials and devices are discussed.This review provides clear guidance for designing bioinspired soft matter-based lubrication,adhesion,or adhesion-lubrication switchable systems,and would act as a necessary research handbook in the field of surface/interface wettability engineering,bioengineering,medical devices,soft robotics,etc.
文摘During restorative dental procedures,complete control over the operative site is critical for patient comfort,safety,and the operator’s access and visibility.The success of a fixed prosthesis depends on accurate impression making of the prepared finish lines on the abutment teeth.To optimise long-term outcomes for the fixed restoration,gingival retraction techniques should be used to decrease the marginal discrepancy among the restoration and the prepared abutment.Accurate marginal positioning of the restoration along the prepared finish line of the abutment is essential for therapeutic,preventive,and aesthetic purposes.
基金supported by the National Magnetic Confinement Fusion Science Program of China (Nos.2022YFE03100004,2017YFE0301700,2017YFE0301701 and 2022YFE03060003)National Natural Science Foundation of China (Nos.12375226,12175227,11875255 and 11975231)+2 种基金the China Postdoctoral Science Foundation (No.2022M723066)the Fundamental Research Funds for the Central Universitiesthe Collaborative Innovation Program of Hefei Science Center,CAS (No.2022HSCCIP022)。
文摘A 100-channel double-foil soft X-ray array imaging(DSXAI)diagnostic system has been developed for the HL-2A tokamak to obtain tomographic bremsstrahlung emissivity and electron temperature(T_(e)).This system employs a double-foil technique to determine T_(e) by comparing the soft X-ray(SXR)emissivities from the same plasma location through two beryllium(Be)foils of differing thickness.The DSXAI system comprises five photocameras mounted at two different poloidal cross-sections,separated toroidally by 15°,allowing for three distinct poloidal viewing angles.Each photocamera features 20 channels,offering a temporal resolution of approximately 4μs and a spatial resolution of about 8 cm,with no channel overlap.Each photocamera contains two identical optical systems,each defined by an aperture slit and a photodiode array.The double-foil configuration is realized by placing these two optical systems,each with a different Be foil,in close proximity.Initial experimental results demonstrate that the DSXAI diagnostic system performs well,successfully reconstructing 2-dimensional(2D)tomographic SXR emissivity and T_(e) on the HL-2A tokamak.This study provides valuable insights for the future implementation of similar diagnostic systems on fusion reactors like ITER.
