The soft robotics display huge advantages over their rigid counterparts when interacting with living organisms and fragile *** one of the most efficient actuators toward soft robotics,the soft pneumatic actuator(SPA)c...
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The soft robotics display huge advantages over their rigid counterparts when interacting with living organisms and fragile *** one of the most efficient actuators toward soft robotics,the soft pneumatic actuator(SPA)can produce large,complex responses with utilizing pressure as the only input *** this work,a new approach that combines digital light processing(DLP)and injection-assisted post-curing is proposed to create SPAs that can realize different *** enable this,we develop a new class of photo-cross linked elastomers with tunable mechanical properties,good stretchability,and rapid curing *** carefully designing the geometry of the cavities embedded in the actuators,the resulting actuators can realize contracting,expanding,flapping,and twisting *** addition,we successfully fabricate a soft self-sensing bending actuator by injecting conductive liquids into the three-dimensional(3D)printed actuator,demonstrating that the present method has the potential to be used to manufacture intelligent soft robotic systems.
In the biomass combustion process, fuel N in biomass can be oxidized into NOx, causing acid rain and photochemical smog. Some measures should be taken to control NOx emissions from biomass combustion. In this paper, N...
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The isothermal differential characteristics of the gas-solid reaction occurring in a micro-fluidized bed reactor were studied using the indigenously developed Micro-Fluidized Bed Reaction Analyzer (MFBRA). The combust...
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In this study, α-ZrP-CPC layered compound was gained by inserting cetyl pyridinium chloride (CPC) into α-ZrP with amines as pillaring agent. The amount of CPC intercalated reached the highest with the molar ratio of...
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In this study, α-ZrP-CPC layered compound was gained by inserting cetyl pyridinium chloride (CPC) into α-ZrP with amines as pillaring agent. The amount of CPC intercalated reached the highest with the molar ratio of the amine/α-ZrP being 2. The lower concentration of CPC resulted in more CPC molecules intercalated into the interlayer of α-ZrP, The intercalation products were characterized by XRD, IR, TG-DSC and SEM. The result of TG-DSC showed that the amount of xylene adsorbed reached the peak value of 5.56%, when the content of CPC in α-ZrP-CPC was 41%.
Coal is generally combusted or gasified directly to destroy completely the chemical structures, such as aromatic rings containing in volatile coals including bituminite and lignite. Coal topping refers to a process th...
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Coal is generally combusted or gasified directly to destroy completely the chemical structures, such as aromatic rings containing in volatile coals including bituminite and lignite. Coal topping refers to a process that extracts chemicals with aromatic rings from such volatile coals in advance of combustion or gasification and thereby takes advantage of the value of coal as a kind of chemical structure resource. CFB boiler is the coal utilization facility that can be easily retrofitted to implement coal topping. A critical issue for performing coal topping is the choice of the pyrolytic reactor that can be different types. The present study concerns fluidized bed reactor that has rarely been tested for use in coal topping. Two different types of coals, one being Xiaolongtan (XLT) lignite and the other Shanxi (SX) bituminous, were tested to clarify the yield and composition of pyrolysis liquid and gas under conditions simulating actual operations. The results showed that XLT lignite coals had the maximum tar yield in 823-873K and SX bituminite realized its highest tar yield in 873∼923K. Overall, lignite produced lower tar yield than bituminous coal. The pyrolysis gas from lignite coals contained more CO and CO2 and less CH4, H2 and C2+C 3 (C2H4, C2H6, C 3H6, C3H8) components comparing to that from bituminous coal. TG-FTIR analysis of tars demonstrated that for different coals there are different amounts of typical chemical species. Using coal ash of CFB boiler, instead of quartz sand, as the fluidized particles decreased the yields of both tar and gas for all the tested coals. Besides, pyrolysis in a reaction atmosphere simulating the pyrolysis gas (instead of N2) resulted also in higher production of pyrolysis liquid.
While the difficulty and complexity of simulationsystem increasing, the development efficiency and execution performance of the large-scale distributed simulationsystem (LSDSS) must be improved effectively. Furtherm...
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The stability of pyrotechnic composition used in flame detonator was studied at severe temperatures (-70-130 ℃) for 5 d. For single N-LTNR(normal lead styphnate), camera was used to observe the shape and colour o...
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The stability of pyrotechnic composition used in flame detonator was studied at severe temperatures (-70-130 ℃) for 5 d. For single N-LTNR(normal lead styphnate), camera was used to observe the shape and colour of N-LTNR in the DSC(differential scanning calorimetry) furnace during continuous heating and cooling processes. Based on the DSC-TGA(thermogravimetric analysis) results, it can be seen that when the temperature exceeded 110 ℃, N-LTNR lost its crystal water, making the energetic material become darker in colour, smaller in dimension, lager in volume and lighter in weight(3.416%); when the temperature was below -40 ℃, the phenomenon of sample broking, jumping and cracking happened. For the N-LTNR and Pb(N3)2(lead azide) double layers, the loss of N-LTNR's crystal water at the temperature higher than 110 ℃ caused the hydrolysis reaction of Pb(N3)2, and the purity of Pb(N3)2 measured after the temperature cycling decreased from 98.6% to 95.26%. For the flame detonator, the height and diameter of the flame detonator were measured and no apparent changes of them were found. The p-t(pressure-time) test shows that the peak pressure was decreased by 3.9%. Therefore, the operating temperature of this flame detonator should be limited to -40-110 ℃.
Detecting high-speed, small targets in air is challenging due to their complex non-linear motion model and range migration effects. Traditional finite order polynomial models often fail to account for atmospheric drag...
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The surface tension of molten AlSi20 alloy has been measured by using the sessile drop method at 923―1123 K under argon atmosphere in both heating-up and cooling processes. The result shows that the surface tension o...
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The surface tension of molten AlSi20 alloy has been measured by using the sessile drop method at 923―1123 K under argon atmosphere in both heating-up and cooling processes. The result shows that the surface tension of this alloy decreases as long as temperature increases. The results of surface tension and contact angles in heating-up process have differences from those obtained in cooling process, because the metal microstructures have some changes at different temperatures based on the metal genetic theory. The surface tension of molten AlSi20 alloy and that of molten pure aluminum have been compared as well, and the temperature coefficient of AlSi20 alloy is slightly lower than that of Al. The result has been analyzed by the linear scanning analysis with ESEM. The concentration of silicon in most region of the bulk is lower than that of the surface and the addition of Si to pure Al decreases the surface tension of molten pure Al.
Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most ef...
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ISBN:
(纸本)9781509046584
Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.
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