Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-t...Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.展开更多
Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stabi...Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.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
This paper takes some investigations on generalized topological spaces with some μ- separations. Some characterizations of μTi-spaces for i = 0, 1, 2, 3, 4, μTn-spaces and μR0-spaces are obtained and some relation...This paper takes some investigations on generalized topological spaces with some μ- separations. Some characterizations of μTi-spaces for i = 0, 1, 2, 3, 4, μTn-spaces and μR0-spaces are obtained and some relations among these spaces are established.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
Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptabilit...Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.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
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
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
Polyurethane foam,when used as a compressible layer in deep soft rock tunnels,offers a feasible solution to reduce the support pressure on the secondary lining.The foam spraying method using sprayed polyurethane mater...Polyurethane foam,when used as a compressible layer in deep soft rock tunnels,offers a feasible solution to reduce the support pressure on the secondary lining.The foam spraying method using sprayed polyurethane material is convenient for engineering applications;however,the compressive behaviour and feasibility of sprayed polyurethane material as a compressible layer remain unclear.To address this gap,this study conducts uniaxial compression tests and scanning electron microscope(SEM)tests to investigate the compressive behaviour of the rigid foams fabricated from a self-developed polyurethane spray material.A peridynamics model for the composite lining with a polyurethane compressible layer is then established.After validating the proposed method by comparison with two tests,a parametric study is carried out to investigate the damage evolution of the composite lining with a polyurethane compressible layer under various combinations of large deformations and compressible layer parameters.The results indicate that the polyurethane compressible layer effectively reduces the radial deformation and damage index of the secondary lining while increasing the damage susceptibility of the primary lining.The thickness of the polyurethane compressible layer significantly influences the prevention effect of large deformation-induced damage to the secondary lining within the density range of 50e100 kg/m^(3).In accordance with the experimental and simulation results,a simple,yet reasonable and convenient approach for determining the key parameters of the polyurethane compressible layer is proposed,along with a classification scheme for the parameters of the polyurethane compressible layer.展开更多
The hydraulic fractures induced in soft coal composite reservoirs have complex extension and energy evolution characteristics.In this study,the mechanism whereby gas outbursts can be eliminated by hydraulic fracturing...The hydraulic fractures induced in soft coal composite reservoirs have complex extension and energy evolution characteristics.In this study,the mechanism whereby gas outbursts can be eliminated by hydraulic fracturing was revealed.The combined fracturing process of a coal seam and its roof under different in situ stress and fracture spacing conditions was analysed through true triaxial physical tests and numerical simulations.The results showed that the pre-fracturing of the roof had a pressure relief effect on the coal seam,and the secondary pressure relief of the coal seam could be completed at a lower fracture initiation pressure.To ensure the continued presence of the stress shadow effect in actual projects,the fracture spacing should be maintained within the critical range influencing the fracture extension.If the vertical stress is high,a call on increasing the fracture spacing can be taken;otherwise,it must be reduced.In the early phase of fracturing,energy is mostly concentrated at the tip and surface of the fracture;however,the proportion of surface energy for subsequent fracturing is gradually reduced,and the energy is mostly used to open the formation and work on the surrounding matrix.Hydraulic fracturing creates new fractures to interconnect originally heterogeneously distributed gas zones,enabling the entire coal seam to first establish interconnected pressure equilibration,then undergo gradientcontrolled depressurization.Hydraulic fracturing can homogenize the stress field and gas pressure field in the original coal seam via communication pressure equalization and reduction decompression,reduce the elastic and extension energies,increase the minimum failure energy required for instability;and realize the elimination of gas outbursts.Our findings provide some theoretical support for the efficient development of coalbed methane and the prevention and control of dynamic gas disasters in coal mines.展开更多
Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,w...Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.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
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
基金supported by National Natural Science Foundation of China(No.52103044)Double First-Class Initiative University of Science and Technology of China(KY2400000037)the Young Talent Programme(GG2400007009).
文摘Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.
基金supported by the NSFC under Grant No.62474169the National Key Research and Development Program of China under Grant No.2024YFB3212200the funding from USTC under Grant Nos.WK2100000025,KY2190000003,and KY2190000006。
文摘Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.
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Supported by the National Natural Science Foundation of China(10971185)
文摘This paper takes some investigations on generalized topological spaces with some μ- separations. Some characterizations of μTi-spaces for i = 0, 1, 2, 3, 4, μTn-spaces and μR0-spaces are obtained and some relations among these spaces are established.
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。
基金the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
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.
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financially supported by the National Key Research and Development Program of China(Grant Nos.2023YFB2604005)the National Key Research and Development 451 Program of China(Grant No.2021YFC3100803)the Yangtze River Water Science Research Joint Fund Key Project of National Natural Science Foundation of China(Grant No.U2340231).
文摘Polyurethane foam,when used as a compressible layer in deep soft rock tunnels,offers a feasible solution to reduce the support pressure on the secondary lining.The foam spraying method using sprayed polyurethane material is convenient for engineering applications;however,the compressive behaviour and feasibility of sprayed polyurethane material as a compressible layer remain unclear.To address this gap,this study conducts uniaxial compression tests and scanning electron microscope(SEM)tests to investigate the compressive behaviour of the rigid foams fabricated from a self-developed polyurethane spray material.A peridynamics model for the composite lining with a polyurethane compressible layer is then established.After validating the proposed method by comparison with two tests,a parametric study is carried out to investigate the damage evolution of the composite lining with a polyurethane compressible layer under various combinations of large deformations and compressible layer parameters.The results indicate that the polyurethane compressible layer effectively reduces the radial deformation and damage index of the secondary lining while increasing the damage susceptibility of the primary lining.The thickness of the polyurethane compressible layer significantly influences the prevention effect of large deformation-induced damage to the secondary lining within the density range of 50e100 kg/m^(3).In accordance with the experimental and simulation results,a simple,yet reasonable and convenient approach for determining the key parameters of the polyurethane compressible layer is proposed,along with a classification scheme for the parameters of the polyurethane compressible layer.
基金financially supported by the National Key R&D Program(Nos.2023YFC3009000 and 2023YFC3006804)the National Natural Science Foundation of China(Nos.52130409,52121003,51874314,and 52274190).
文摘The hydraulic fractures induced in soft coal composite reservoirs have complex extension and energy evolution characteristics.In this study,the mechanism whereby gas outbursts can be eliminated by hydraulic fracturing was revealed.The combined fracturing process of a coal seam and its roof under different in situ stress and fracture spacing conditions was analysed through true triaxial physical tests and numerical simulations.The results showed that the pre-fracturing of the roof had a pressure relief effect on the coal seam,and the secondary pressure relief of the coal seam could be completed at a lower fracture initiation pressure.To ensure the continued presence of the stress shadow effect in actual projects,the fracture spacing should be maintained within the critical range influencing the fracture extension.If the vertical stress is high,a call on increasing the fracture spacing can be taken;otherwise,it must be reduced.In the early phase of fracturing,energy is mostly concentrated at the tip and surface of the fracture;however,the proportion of surface energy for subsequent fracturing is gradually reduced,and the energy is mostly used to open the formation and work on the surrounding matrix.Hydraulic fracturing creates new fractures to interconnect originally heterogeneously distributed gas zones,enabling the entire coal seam to first establish interconnected pressure equilibration,then undergo gradientcontrolled depressurization.Hydraulic fracturing can homogenize the stress field and gas pressure field in the original coal seam via communication pressure equalization and reduction decompression,reduce the elastic and extension energies,increase the minimum failure energy required for instability;and realize the elimination of gas outbursts.Our findings provide some theoretical support for the efficient development of coalbed methane and the prevention and control of dynamic gas disasters in coal mines.
基金the National Natural Science Foundation of China(Nos.52105421 and 52373050)the Guangdong Provincial Natural Science Foundation,China(No.2022A1515011621)+1 种基金the Science and Technology Projects in Guangzhou,China(Nos.202102080330 and 2024A04J6446)the Fundamental Research Funds for the Central Universities,Sun Yat-sen University(No.22qntd0101).
文摘Wireless millirobots engineered to infiltrate intricate vascular networks within living organisms,particularly within constricted and confined spaces,hold immense promise for the future of medical treatments.However,with their multifaceted and intricate designs,some robots often grapple with motion and functionality issues when confronted with tight spaces characterized by small cross-sectional dimensions.In this study,drawing inspiration from the high aspect ratio and undulating swimming patterns of snakes,a millimeter-scale,snake-like robot was designed and fabricated via a combination of extrusion-based four-dimensional(4D)printing and magnetic-responsive intelligent functional inks.A sophisticated motion control strategy was also developed,which enables the robots to perform various dynamic movements,such as undulating swimming,precise turns,graceful circular motions,and coordinated cluster movements,under diverse magnetic field variations.As a potential application,the snake robot can navigate and release drugs in a model coronary intervention vessel with tortuous channels and fluid filling.The novel design and promising applications of this snake robot are invaluable tools in future medical surgeries and interventions.
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.
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.
