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Soft pneumatic actuators by digital light processing combined with injection-assisted post-curing

Applied Mathematics and Mechanics(English Edition) 2021年第2期42卷 159-172页

作者： Qiang ZHANG Shayuan WENG Zeang ZHAO H.J.QI Daining FANG State Key Laboratory for Turbulence and Complex System College of EngineeringPeking UniversityBeijing 100871China College of Aerospace Engineering Chongqing UniversityChongqing 400044China Institute of Advanced Structure Technology Beijing Institute of TechnologyBeijing 100081China The George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332U.S.A.

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.

关键词： soft pneumatic actuator(SPA) digital light processing(DLP) injectionassisted post-curing three-dimensional(3D)printing

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NO reduction over biomass char in the combustion process

NO reduction over biomass char in the combustion process

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作者： Dong, Li Gao, Shiqiu Xu, Guangwen State Key Laboratory of Multi-Phase Complex System Institute of Process Engineering Chinese Academy of Sciences Beijing 100190 China

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, NO reduction over rice husk char in the combustion process was studied in a fixed-bed reactor to optimize the biomass combustion process. The results showed that biomass char was more active in the presence of oxygen to reduce NO than it was in the inert atmosphere. With the increase of oxygen, moreNOcan be reduced by biomass char. From 973 to 1173 K,NOreduction over rice husk char increased with increasing temperature, whereas the difference between NO reduction with and without oxygen decreased with increasing temperature. Moreover, the presence of CO and SO2 in the combustion process was shown to enhance NO reduction over biomass char to different degrees. Therefore, it is an effective way to reduce NO from biomass combustion by emphasizing NO reduction over biomass char. © American Chemical Society.

关键词： Oxygen

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Isothermal differential characteristics of gas-solid reaction in micro-fluidized bed reactor

Isothermal differential characteristics of gas-solid reactio...

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作者： Yu, Jian Zeng, Xi Zhang, Juwei Zhong, Mei Zhang, Guangyi Wang, Yin Xu, Guangwen State Key Laboratory of Multi-phase Complex System Institute of Process Engineering Chinese Academy of Science Beijing 100190 China

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 combustion of graphite powder in micrometers was taken as the model reaction because of its negligible internal diffusion and chemical-reaction simplicity. With minimized inhibitions from both the internal and external diffusions, the reaction in MFBRA at a preset temperature was analyzed by using the isothermal kinetic approach, resulting in an activation energy of 165 kJ/mol and a pre-exponential factor of 106 1/s. The reaction was further found to be subject to the nucleation and growth model expressed by G(α) = -ln(1 - α). Measuring this reaction in TG via the programmed heating method resulted in the similar activation energy and the same reaction function model (by extrapolating to zero conversion). Comparing with the non-isothermal approach for TG that involves complicated mathematical calculations, the isothermal differential approach for MFBRA allowed the separation of the temperature effect (i.e., the reaction rate constant) and kinetic function model, thus providing a simple and reliable determination of the gas-solid reaction kinetics. © 2012 Elsevier Ltd. All rights reserved.

关键词： Fluidized beds

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Preparation and characterization of CPC interesting α-ZrP as VOCs adsorbent

Preparation and characterization of CPC interesting α-ZrP a...

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作者： Zhang, Donghai Li, Ziqiang Chen, Yunfa State Key Laboratory of Multi-phase Complex System Institute of Process Engineering Chinese Academy of Sciences Beijing 100080 China

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%.

关键词： Zirconium compounds

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Characteristics of pyrolytic topping in fluidized bed for different volatile coals

Characteristics of pyrolytic topping in fluidized bed for di...

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20th International Conference on Fluidized Bed Combustion

作者： Xiong, R. Dong, L. Xu, G.W. State Key Laboratory of Multi-Phase Complex System Institute of Process Engineering Chinese Academy of Sciences Beijing 100080 China

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.

关键词： Fluidized beds

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Design and realization of the simulation component-based parallel framework for HLA Federate

Design and realization of the simulation component-based par...

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2012 7th International Conference on system of systems engineering, SoSE 2012

作者： Zhang, Jing Zhang, Yingchao Yu, Qin Zhang Guan, Chuan Fang Li, Wei Peng, Yong Science and Technology on Complex Systems Simulation Laboratory Beijing Institute of System Engineering Beijing China National University of Defense Technology Changsha China

ISBN: (纸本)9781467329750

While the difficulty and complexity of simulation system increasing, the development efficiency and execution performance of the large-scale distributed simulation system (LSDSS) must be improved effectively. Furthermore, while the multi-core has become popular hardware, yet the traditional federate mechanism couldn't utilize and schedule the CPU resource, which would limit the simulation performance. Then PFHF, Parallel Framework for HLA Federate, was designed and realized to solve the problem above. PFHF could combine and construct federate from simulation model components, perform simulation engine management, data distribution management, object management, component management and load balancing function, etc., then support the integrated execution environment based on multi-core and parallel technique. Several experiments proved that PFHF could utilize multi-core CPU adequately, and reduce the LSDSS execution time efficiently. © 2012 IEEE.

关键词： Circuit simulation

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Stability of Pyrotechnic Composition in Flame Detonator Exposed to Severe Thermal Stimulus

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Chemical Research in Chinese Universities 2015年第5期31卷 814-819页

作者： CHENG Jun YAN Nan YE Yaokun ZHENG Fei State Key Laboratory of Explosion Science and Technology Beijing Institute of Technology Beijing 100081 P. R. China Beijing Institute of Spacecraft System Engineering Beijing 100094 P. R. China

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 ℃.

关键词： Normal lead styphnate Lead azide Flame detonator Stability

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Logarithm Radon-Fourier transform for high speed small target detection with atmospheric resistance effect

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Digital Signal Processing: A Review Journal 2025年 165卷

作者： Sun, Difeng Xu, He Wu, Zutang Li, Jin Wu, Youcao Li, Jianbing State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System College of Electronic Science and Technology National University of Defense Technology Changsha410073 China National Key Laboratory of Intense Pulsed Radiation Simulation and Effect Northwest Institute of Nuclear Technology Xi'an710024 China Academy of Military Science of the People's Liberation Army Beijing100071 China

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 accurately. This paper introduces a logarithmic relationship between range and time to model this motion, employing the Logarithmic Radon-Fourier Transform (LRFT) for accurately compensating the envelope and phase migration over extended accumulation periods. It offers both the ergodic search method and the fast implementation method for solving LRFT, along with a theoretical analysis of lobe location and amplitude. simulation results indicate that compared with traditional RFT-based methods, LRFT improves accumulation gain, enhances the main lobe's relative amplitude over sidelobes, and offers better detection performance in noisy environments. It provides more accurate recovery of target motion and improved target distinction capabilities. These benefits over traditional methods are especially evident when the product of the attenuation coefficient α, the initial velocity v0, and the total coherent accumulation time TM exceeds a specific threshold. © 2025 Elsevier Inc.

关键词： Fast Fourier transforms

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Surface tension of molten Al-Si alloy at temperatures ranging from 923 to 1123 K

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Chinese Science Bulletin 2008年第17期53卷 2593-2598页

作者： DOU Lei YUAN ZhangFu LI JianQiang LI Jing WANG XiaoQiang Department of Energy and Resources Engineering College of Engineering Peking University Beijing 100871 China State Key Laboratory of Multi-phase Complex System Institute of Process Engineering Chinese Academy of Sciences Beijing Graduate University of Chinese Academy of Sciences Beijing 100039 China

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.

关键词：铝硅合金表面张力温度变化金属材料

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Design of Modular Humanoid Rehabilitation Robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

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.

关键词： Rehabilitation Robot Humanoid robot Modularity Singularity Geometric Representation

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