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A Novel Worm-like In-Pipe Robot with the Rigid and Soft Structure 被引量:3
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作者 Delei Fang Guofeng Jia +5 位作者 Junran Wu Xiaoru Niu Pan Li Rong Wang Yan Zhang Junxia Zhang 《Journal of Bionic Engineering》 SCIE EI CSCD 2023年第6期2559-2569,共11页
Soft in-pipe robot has good adaptability in tubular circumstances,while its rigidity is insufficient,which affects the traction performance.This paper proposes a novel worm-like in-pipe robot with a rigid and soft str... Soft in-pipe robot has good adaptability in tubular circumstances,while its rigidity is insufficient,which affects the traction performance.This paper proposes a novel worm-like in-pipe robot with a rigid and soft structure,which not only has strong traction ability but also flexible mobility in the shaped pipes.Imitating the structure features of the earthworm,the bionic in-pipe robot structure is designed including two soft anchor parts and one rigid telescopic part.The soft-supporting mechanism is the key factor for the in-pipe robot excellent performance,whose mathematical model is established and the mechanical characteristics are analyzed,which is used to optimize the structural parameters.The prototype is developed and the motion control strategy is planned.Various performances of the in-pipe robot are tested,such as the traction ability,moving velocity and adaptability.For comparative analysis,different operating scenarios are built including the horizontal pipe,the inclined pipe,the vertical pipe and other unstructured pipes.The experiment results show that the in-pipe robot is suitable for many kinds of pipe applications,the average traction is about 6.8N,the moving velocity is in the range of 9.5 to 12.7 mm/s. 展开更多
关键词 In-pipe robot Bionic design Rigid and soft structure Mechanical characteristics
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Supervised local and non-local structure preserving projections with application to just-in-time learning for adaptive soft sensor 被引量:4
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作者 邵伟明 田学民 王平 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2015年第12期1925-1934,共10页
In soft sensor field, just-in-time learning(JITL) is an effective approach to model nonlinear and time varying processes. However, most similarity criterions in JITL are computed in the input space only while ignoring... In soft sensor field, just-in-time learning(JITL) is an effective approach to model nonlinear and time varying processes. However, most similarity criterions in JITL are computed in the input space only while ignoring important output information, which may lead to inaccurate construction of relevant sample set. To solve this problem, we propose a novel supervised feature extraction method suitable for the regression problem called supervised local and non-local structure preserving projections(SLNSPP), in which both input and output information can be easily and effectively incorporated through a newly defined similarity index. The SLNSPP can not only retain the virtue of locality preserving projections but also prevent faraway points from nearing after projection,which endues SLNSPP with powerful discriminating ability. Such two good properties of SLNSPP are desirable for JITL as they are expected to enhance the accuracy of similar sample selection. Consequently, we present a SLNSPP-JITL framework for developing adaptive soft sensor, including a sparse learning strategy to limit the scale and update the frequency of database. Finally, two case studies are conducted with benchmark datasets to evaluate the performance of the proposed schemes. The results demonstrate the effectiveness of LNSPP and SLNSPP. 展开更多
关键词 Adaptive soft sensor Just-in-time learning Supervised local and non-local structure preserving projections Locality preserving projections Database monitoring
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Soft Sediment Deformation Structures in the Maastrichtian Patti Formation, Southern Bida Basin Nigeria: Implications for the Assessment of Endogenic Triggers in the Maastrichtian Sedimentary Record
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作者 Solomon Ojo Olabode 《Open Journal of Geology》 2016年第6期410-438,共29页
Detailed fieldwork carried out in the southern part of Bida Basin, Nigeria, allowed the documentation of soft sediment deformation structures (SSDS) in the Maastrichtian Patti Formation. The aim of this study is to ex... Detailed fieldwork carried out in the southern part of Bida Basin, Nigeria, allowed the documentation of soft sediment deformation structures (SSDS) in the Maastrichtian Patti Formation. The aim of this study is to examine the sedimentary successions, describe and analyse these deformation features, discuss their deformation mechanisms and potential triggers. The Maastrichtian Patti Formation is composed of lithofacies interpreted to have been deposited in tidal and fluvial sedimentary environments. Soft sediment deformation structures recognised in the tidal sediments were clastic dykes, load cast, isolated sand balls, dish-and-pillar structures, convolute lamination, diapiric structures and recumbent folds. Severely deformed cross beds, ring structures, associated sand balls, normal folds and recumbent folds were identified in the fluvial sediments. SSDS recognised were interpreted to have been caused by effects of liquefaction and fluidization. Field observations, facies analysis and morphology of the SSDS indicate that there are relationship between the depositional environments and SSDS. Endogenic processes are considered as the trigger agents and they are represented by rapid sedimentation and overloading, impact of breaking waves, pressure fluctuations caused by turbulent water flow, cyclic stress and current generated by storm waves and changes in water table. The present study did not identify exogenic processes as trigger agent. The occurrence of SSDS in southern Bida Basin strongly favoured a non-tectonic origin but a clear relationship high energy processes in tidal and fluvial depositional environments. 展开更多
关键词 soft Sediment Deformation structure Bida Basin Patti Formation Tidal/Fluvial Sediments Fluidization and Liquefaction
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Tocilizumab as an effective treatment option for idiopathic orbital inflammation:a case report and literature review
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作者 Hai-Yang Zhang Hui-Jie Zhang Hui-Fang Zhou 《International Journal of Ophthalmology(English edition)》 2026年第1期199-201,共3页
Dear Editor,Idiopathic orbital inflammation(IOI),also known as orbital inflammatory pseudotumor,is a relatively common orbital disorder[1].Its pathogenesis remains unclear,often regarded as a nonspecific immune-mediat... Dear Editor,Idiopathic orbital inflammation(IOI),also known as orbital inflammatory pseudotumor,is a relatively common orbital disorder[1].Its pathogenesis remains unclear,often regarded as a nonspecific immune-mediated response[2].IOI presents with symptoms such as pain,photophobia,proptosis,eyelid swelling,edema,conjunctival congestion,and diplopia,with possible vision loss occurring in some cases.Based on the soft tissue structures involved,IOI can be classified into subtypes such as myositis,optic neuritis,dacryoadenitis,diffuse orbital inflammation,and orbital inflammatory masses[2]. 展开更多
关键词 soft tissue structures idiopathic orbital inflammation orbital disorder its vision loss myositisoptic neuriti orbital inflammatory pseudotumoris orbital inflammation ioi also orbital inflammatory pseudotumor
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Derivation and Creation of Confucian Cultural Structure and Function Theory from the Theory of Material Structure and Function
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作者 ZHANG Chunmei SHI Haisheng YANG Jincai 《International English Education Research》 2017年第5期41-43,共3页
By studying the relationship between physical structure and function in physical chemistry, the author breaks through the limitation of the western narrow social and cultural structure and function theory, and further... By studying the relationship between physical structure and function in physical chemistry, the author breaks through the limitation of the western narrow social and cultural structure and function theory, and further derives and founds the Confucian cultural structure and function theory, thus creating a new research methodology and broadening the research horizon. Through the research, it is found that the Confucian culture structure consists of the hard structure "ritual" and the soft structure "benevolence", and based on this constructs three-outline, five- principal, four-moral, eight- virtul, five cardinal principals and other Confucian culture, so that these have a social management function, resulting in a 2000-year stable Chinese social order, which also provides reference for the social management of Chinese government today. 展开更多
关键词 Confucian Cultural structure and Functional Theory Hard structure soft structure RITUAL BENEVOLENCE CREATION Innovation
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Catastrophe mechanism and disaster countermeasure for soft rock roadway surrounding rock in Meihe mine 被引量:5
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作者 Yu Yang Zhu Caikun +2 位作者 Chong Deyu Liu Yang Li Sichao 《International Journal of Mining Science and Technology》 SCIE EI CSCD 2015年第3期407-413,共7页
The soft rock's heterogeneity and nonlinear mechanical behavior cause extremely difficult maintenance on the soft rock roadway. Aiming at the asymmetric deformation and destruction phenomenon appearing after excav... The soft rock's heterogeneity and nonlinear mechanical behavior cause extremely difficult maintenance on the soft rock roadway. Aiming at the asymmetric deformation and destruction phenomenon appearing after excavating and supporting the 7101 air return way in Meihe mine, this paper comprehensively adopted a variety of methods to analyze the roadway surrounding rock deformation rule, obtaining the roadway surrounding rock stress and plastic zone distribution rule under no supporting condition and the roadway surrounding rock deformation features under original symmetric supporting condition.Furthermore, this paper revealed the catastrophe mechanism, and proposed the concept of ‘‘weak structure'' and the disaster countermeasure of ‘‘overall stabilizing the roadway and strengthening the support of weak structure''. The industrial test shows that the disaster control technology can realize the coordination deformation of the supporting structure and roadway surrounding rock, thus significantly controlling the deformation of roadway surrounding rock. 展开更多
关键词 soft rockAsymmetric Catastrophe Theoretical analysis Numerical simulation Weak structure
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Failure mechanism and control technology of water-immersed roadway in high-stress and soft rock in a deep mine 被引量:17
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作者 Yang Renshu Li Yongliang +3 位作者 Guo Dongming Yao Lan Yang Tongmao Li Taotao 《International Journal of Mining Science and Technology》 SCIE EI CSCD 2017年第2期245-252,共8页
Aiming at soft rock ground support issues under conditions of high stress and long-term water immersion, the ground failure mechanism is revealed by taking the deep-water sumps of Jiulong Mine as the engineering backg... Aiming at soft rock ground support issues under conditions of high stress and long-term water immersion, the ground failure mechanism is revealed by taking the deep-water sumps of Jiulong Mine as the engineering background and employing field investigation, tests of rock structure, mechanical properties and mineral composition. The main factors leading to the surrounding rock failure include the high and complex stress state of the water sumps, high-clay content and water-weakened rock, and the unreasonable support design. In this paper, the broken and fractured rock mass near roadway opening is considered as ground small-structure, and deep stable rock mass as ground large-structure. A support technology focusing on cutting off the water, strengthening the small structure of the rock and transferring the large structure of the rock is proposed. The proposed support technology of interconnecting the large and small structures, based on high-strength bolts, high-stiffness shotcrete layer plugging water,strengthening the small structure with deep-hole grouting and shallow-hole grouting, highpretensioned cables tensioned twice to make the large and small structures bearing the pressure evenly,channel-steel and high-pretensioned cables are used to control floor heave. The numerical simulation and field test show that this support system can control the rock deformation of the water sumps and provide technical support to similar roadway support designs. 展开更多
关键词 High stress and soft rock Water immersion Failure mechanism Large and small structures Rework control
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A New Attempt to Neutrosophic Soft Bi-Topological Spaces
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作者 Arif Mehmood Muhammad Aslam +3 位作者 Muhammad Imran Khan Humera Qureshi Choonkil Park Jung Rye Lee 《Computer Modeling in Engineering & Sciences》 SCIE EI 2022年第3期1565-1585,共21页
In this article,new generalized neutrosophic soft∗b open set is introduced in neutrosophic soft bi-topological structurers(NSBTS)concerning soft points of the space.This new set is produced by making the marriage of s... In this article,new generalized neutrosophic soft∗b open set is introduced in neutrosophic soft bi-topological structurers(NSBTS)concerning soft points of the space.This new set is produced by making the marriage of soft semi-open set with soft pre-open set in neutrosophic soft topological structure.An ample of results are investigated in NSBTS on the basis of this new neutrosophic soft∗b open set.Proper examples are settled for justification of these results.The non-validity of some results is vindicated with examples. 展开更多
关键词 Neutrosophic soft set(NSS) neutrosophic soft points(NSP) neutrosophic soft bi-topological structurers(NSBTS) neutrosophic soft∗b-open set and neutrosophic soft∗b-separation axioms
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Integrated actuation and sensing abilities for soft pneumatic composite structures
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作者 Wei XIAO Zhangbo WANG +1 位作者 Yihua XIAO Dean HU 《Science China(Technological Sciences)》 2026年第2期287-301,共15页
Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sens... Soft pneumatic structures are promising for the actuation of soft machines,and substantial advances have occurred in their innovative design and functional verification.However,most pneumatic structures lack self-sensing abilities,resulting in a lack of motion state feedback and difficulty in achieving real-time closed-loop control.Herein,a soft pneumatic composite structure(SPCS)with integrated actuation and sensing abilities is developed by combining a bellows-shaped magnetic elastomer and a wire structure.The SPCS can generate an induced voltage under deformation.The SPCS mechanical and magnetoelectric characteristics are studied comprehensively.The SPCS experimental maximum contraction is 27 mm,which is close to the theoretical and numerical results.When the SPCS is actuated by a pressure of-40 kPa,it will generate a peak induced voltage of 1.01 mV.With the increase in magnetic powder content and turns of the spiral wire,the induced voltage also increases.Additionally,two SPCSs are used to develop a self-sensing actuator,which can accurately perceive the bending direction and recognize the magnitude and direction of external force.A self-sensing soft gripper is developed,which can sense the grasping status and predict the width of grasped objects.Furthermore,a smart vehicle detection system composed of two SPCSs is proposed,which can detect the number,speed,and weight of passing vehicles.Consequently,the SPCS has numerous potential applications in soft sensors and self-sensing intelligent soft machines. 展开更多
关键词 soft pneumatic composite structure induced voltage self-sensing actuator self-sensing soft gripper smart vehicle detection system
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Numerical Simulation Study on the Detection of Weak Structural Plane of Rock Slope by Using 3D Electrical Resistivity Tomography
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作者 Xin Zhang 《Engineering(科研)》 2016年第7期438-444,共8页
The weak structure plane is an important factor affecting the stability of rock slope, and detecting the spatial structure of the weak structural plane is beneficial to analyze the stability of the slope and estimate ... The weak structure plane is an important factor affecting the stability of rock slope, and detecting the spatial structure of the weak structural plane is beneficial to analyze the stability of the slope and estimate the quantity of the landslide. Based on 3D electrical resistivity tomography, a model of rock slope with weak structure plane is established, and the characteristics of three-dimensional resistivity imaging of weak structure plane under different ground water conditions are simulated. The results show that the weak structural plane has a better reflection in 3D electrical resistivity tomography;the distribution of weak structural plane of 3D resistivity imaging can be roughly determined under different ground water conditions;the three-dimensional electrical resistivity tomography is feasible in the detection of weak structural plane of rock slope. 展开更多
关键词 Rock Slope soft structure Plane 3D Electrical Resistivity Tomography Numerical Simulation
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Identification of seismic activity and basin inversion based on soft-sediment deformation structures:an example from SE Korea
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作者 Jinhyun Lee Sambit Prasanajit Naik +3 位作者 Ho-Seok Choi Jinhyeon So Donghwa Yun Young-Seog Kim 《Episodes》 2024年第3期595-610,共16页
Deformed soft-sediment deformation structures(SSDS)can indicate polyphase deformation events and provide valuable insights into the inversion process of a basin.Herein,we present the Miocene–Quaternary deformation in... Deformed soft-sediment deformation structures(SSDS)can indicate polyphase deformation events and provide valuable insights into the inversion process of a basin.Herein,we present the Miocene–Quaternary deformation inversion history of the Bomun sub-basin in the Gyeongju area of SE Korea.The inferred ENE compression direction(σHmax)based on paleostress analysis of the fault system,displacing Miocene sediments and SSDS,corresponds to the current stress field.The widespread occurrence of clear liquefaction structures and the vertical repetition of SSDS indicate substantial seismic activity during the basin opening stage.Brittle deformation features observed at both outcrop-and microstructural-scale along the faults suggest a reactivation as reverse faulting associated with a tilting process.The tectonic history of the study area is distinguished by SSDS associated with seismic activity,and reverse faulting associated with inversion process under ENE orientedσHmax.The Environmental Seismic Intensity Scale(ESI-07)based on the SSDS indicates seismic intensity of IX-X,which might be related with the opening of the Bomun sub-basin.Therefore,detailed analyses of SSDS could provide valuable insights on the dynamics of local geology and contribute to further extensive research on seismic hazards and basin inversion. 展开更多
关键词 Miocene Quaternary seismic activity polyphase deformation events basin inversion soft sediment deformation structures clear liquefaction struc paleostress analysis
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Soft-sediment deformation structures in the sub-Himalayan Middle Siwalik Subgroup,Lish River section,India
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作者 Abhik Kundu Patrick G.Eriksson Abdul Matin 《Episodes》 2015年第3期197-207,共11页
The Mio-Pliocene Middle Siwalik Subgroup,in the Lish River Section in the Darjiling District of the Eastern Himalaya,consists of sandstone,mudrocks,heterolithic units and conglomerates preserving six distinct associat... The Mio-Pliocene Middle Siwalik Subgroup,in the Lish River Section in the Darjiling District of the Eastern Himalaya,consists of sandstone,mudrocks,heterolithic units and conglomerates preserving six distinct associations of soft-sediment deformation structures at different stratigraphic levels.The foreland basin sediments of the Himalayan orogen were deposited in alluvial fan settings.Deformation structures present are:folds of variable geometry,pseudonodules,water escape features,flame structures and chaotic laminae. 展开更多
关键词 Lish River section soft sediment deformation structures Mio Pliocene sandstonemudrocksheterolithic units Middle Siwalik Subgroup alluvial fan settings foreland basin sediments featuresflame structures
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Deformation mechanism and hydrocarbon significance of Eocene organic-rich fine-grained soft sediments in the Leijia Region,Liaohe Depression
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作者 Yijie WEN Jianguo ZHANG +1 位作者 Shu TAO Chenyu CAI 《Frontiers of Earth Science》 SCIE CSCD 2024年第1期83-97,共15页
The deformation structure of soft sediments has always been a research hotspot,which is of great significance for analyzing the tectonic and sedimentary evolution background of a basin,as well as the physical properti... The deformation structure of soft sediments has always been a research hotspot,which is of great significance for analyzing the tectonic and sedimentary evolution background of a basin,as well as the physical properties of reservoirs.Previous studies have reported that a large number of soft sediment deformation structures are developed in the western part of Liaohe depression.In this study,through core observation and thin section identification,various types of deformation structures are identified in the core samples which are collected from the upper Es4 in the Leijia region,western sag of Liaohe depression,such as liquefied dikes,liquefied breccia,convoluted laminae,annular bedding,synsedimentary faults,vein structures,etc.Based on the characteristics of core structure,single well profile and continuous well profile,combined with the regional background,this study clarifies that the deformation structure of soft sediments in the study area is mainly caused by seismic action.It is found that the permeability and porosity of deformation layers in the study area are higher than those of the undeformation layers,which proves that the deformation structure of soft sediments has a good effect on improving the physical properties of reservoirs. 展开更多
关键词 soft sediment deformation structure Liaohe depression organic-rich fine-grained soft sediments hydrocarbon significance
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