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Proton antagonist membrane towards exclusive CO_(2)reduction

Nano Research 2023年第4期16卷 4589-4595页

作者： Taishi Xiao Yao Ma Shicheng Zeng Xiang Yao Tong Ye Hongbin Li Wei Li Zhengzong Sun Department of Chemistry and Shanghai Key Laboratory of Molecular Catalysis and Innovative Materials Fudan UniversityShanghai 200433China School of Microelectronics and State Key Laboratory of ASIC and System Fudan UniversityShanghai 200433China

Membrane electrode assembly reactor offers great promise toward practical CO_(2)***,traditional proton exchange membrane possesses strong acidic chemical environment,which facilitates undesired hydrogen evolution *** we report a proton antagonist strategy,through which the proton diffusion pathways have been severely impeded by Na+cation to produce an alkaline-rich *** this new membrane electrode assembly,we can significantly suppress the hydrogen evolution and achieve a Faradaic efficiency of 95.7%for CO with 51.5%energy *** addition,our proton antagonist membrane outperforms the commercial anion exchange membrane in both conductivity and oxidation resistance lifetime,which are crucial for large scale electrolysis of carbon neutral chemicals.

关键词： CO_(2)reduction proton antagonist membrane electrode assembly

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Capacity Allocation of Renewable Energy Sources Considering Complementarity

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CSEE Journal of Power and Energy systems 2024年第4期10卷 1415-1426页

作者： Yinzhe Hu Kaigui Xie Bo Hu Hengming Tai Changzheng Shao Chunyan Li Xueying Yu State Key Laboratory of Power Transmission Equipment and System Security at the Chongqing University Chongqing 400030China Department of Electrical and Computer Engineering University of TulsaTulsaOK 74104USA

The outputs of renewable energy sources(RESs)are inherently variable and uncertain,such as wind power(WP)and photovoltaic(PV).However,the outputs of various types of RESs in different regions are *** the capacity of RESs could be properly allocated during system planning,variability of the total output could be ***,system reliability and renewable energy(RE)consumption could be *** paper proposes an analytical model for optimal complementary capacity allocation of RESs to decrease variability of the total *** model considers the capacity ratio of RESs as decision variables and the coefficient of variation(CV)of the total output as the objective *** proposed approach transforms the single-level optimization model into a bilevel optimization model and derives an analytical equation that can directly calculate the optimal complementary capacity ratio(OCCR)of system *** studies on wind and solar farms in Xinjiang and Qinghai,China,are performed to verify the effectiveness of the proposed analytical allocation method.

关键词： Analytical equation capacity allocation complementary optimization renewable energy variability

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Fabrication of a biomimetic controllable adhesive surface by ultraprecision multistep and layered scribing and casting molding

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Science China(Technological Sciences) 2021年第8期64卷 1814-1826页

作者： WANG Wei XIE ZongWu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures on adhesion is beneficial to the undisturbed grasp or the capture of space ***,the problem currently remains of how to process it efficiently and with high *** a strategy called ultraprecision multistep and layered scribing is proposed for the manufacture of the biomimetic controllable adhesive *** results show that the metal master mold prepared based on the manufacturing strategy has not only good surface topography but also high reliability and ***,the controllable adhesive surface of 1.96 cm2,fabricated by the proposed manufacturing strategy,has a normal adhesion of 1.012 N,and the corresponding shear friction and adhesion coefficient are 3.105 N and 4.82,***,the controllable adhesive surface has been shown to be approximately superhydrophobic and also to possess the properties of controllable adhesion and dynamic ***,after 250 adhesion-detachment cycles,the normal adhesion and shear friction only decrease by 5%and 3%,*** research realizes an environmentally friendly and efficient method by which to manufacture a durable metal mold for fabricating a biomimetic controllable adhesive surface,laying a foundation for its effective application in the adherence of space-floating targets.

关键词： continuous and tilted wedge-shaped microstructures biomimetic controllable adhesive surface ultraprecision multistep and layered scribing controllable adhesion dynamic adhesion

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A noncontact robot demonstration method with human supervision

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Science China(Technological Sciences) 2021年第11期64卷 2360-2372页

作者： ZHANG Qi XIE ZongWu LIU Yang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The widely used kinesthetic demonstration method of dragging robotic manipulators cannot obtain reliable information for autonomous robot manipulation because an additional external force rather than pure contact force will be reflected on the force sensor in end-constrained manipulation tasks. Therefore, a noncontact robot demonstration method with human supervision is proposed to avoid external influence. A human demonstrator sends motion commands by mouse and observes force data reflected in a monitor to protect the robotic manipulator. Simultaneously, the human demonstrator supervises the positionorientation relationship between the end-effector and the manipulated object. The wrench insertion task is adopted to illustrate the advantage of the proposed method. A contact model is established according to demonstration data acquired from the proposed demonstration method, and an orientation adjustment strategy is verified. The strategy verification experiment illustrates not only the effectiveness of the simplified contact model and corresponding strategy but also the advantage of the proposed demonstration method.

关键词： Robot demonstration contact model orientation adjustment

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Magnetic Actuated Shape-memory Helical Microswimmers with Programmable Recovery Behaviors

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Journal of Bionic Engineering 2021年第4期18卷 799-811页

作者： Fu Zhao Weibin Rong Lefeng Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.

关键词： helical microrobot magnetic actuation Shape Memory Polymer(SMP) polylactic acid magnetic particles

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Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations

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Science China(Technological Sciences) 2021年第12期64卷 2662-2675页

作者： LI ChongYang LI ZhiQi JIANG ZaiNan CUI ShiPeng LIU Hong CAI HeGao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Autonomous planning is a significant development direction of the space manipulator,and learning from demonstrations(LfD)is a potential strategy for complex tasks in the ***,separating control from planning may cause large torque fluctuations and energy consumptions,even instability or danger in control of space manipulators,especially for the planning based on the human ***,we present an autonomous planning and control strategy for space manipulators based on LfD and focus on the dynamics uncertainty problem,a common problem of actual *** process can be divided into three stages:firstly,we reproduced the stochastic directed trajectory based on the Gaussian process-based LfD;secondly,we built the model of the stochastic dynamics of the actual manipulator with Gaussian process;thirdly,we designed an optimal controller based on the dynamics model to obtain the improved commanded torques and trajectory,and used the separation theorem to deal with stochastic characteristics during *** evaluated the strategy with locating pre-screwed bolts experiment by Tiangong-2 manipulator system on the *** result showed that,compared with other strategies,the strategy proposed in this paper could significantly reduce torque fluctuations and energy consumptions,and its precision can meet the task requirements.

关键词： space manipulator optimal control dynamics uncertainty learning from demonstrations

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Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

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Journal of Bionic Engineering 2021年第5期18卷 1011-1044页

作者： Wei Wang Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on *** progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive *** application researches have been carried out as *** paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research ***,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact ***,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are ***,some application researches based on the gecko-like dry adhesive surfaces are ***,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.

关键词： Gecko adhesion Gecko-like dry adhesive surfaces Climbing robot Robot gripper Medical adhesive tape

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The Prosthetic Hand Can Grasp Occluded Objects with the Help of 3rd-Eye Based on Artificial Vision and AR Technology 1

The Prosthetic Hand Can Grasp Occluded Objects with the Help...

引用

1st International Conference on Artificial Intelligence and Human-Computer Interaction, ArtInHCI 2023

作者： Shi, Chunyuan Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150081 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150081 China

ISBN: (纸本)9781643685083

Grasping occluded objects is a large challenge for hand amputees because of the hand's perception loss. This paper proposed an alternative approach based on artificial vision and augmented reality technology, termed 3rd-Eye, to solve the problem. In detail, a live stream of an RGB camera attached to the prosthetic hand was presented to the user who wore an augmented reality helmet, HoloLens 2. The 3rd-Eye was integrated into a hybrid control prosthetic system (i-MYO proposed in our previous work). It was tested in a special reach-And-grasp experiment where the subject needed to grasp an occluded object in cluttered environments (one to six objects in total) using the prosthetic hand. The new approach has achieved satisfactory results (success rate: 100% in all). © 2024 The Authors.

关键词： Computer vision

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Global Fire Season Types and Their Characteristics Based on MODIS Burned Area Data

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Chinese Geographical Science 2025年第2期35卷 374-383页

作者： ZHANG Weihan LIU Ronggao HE Jiaying LIU Yang WU Chao State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China Department of Earth System Science Ministry of Education Key Laboratory for Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing 100084China

Fire season affects the dynamic changes of post-fire vegetation communities and carbon *** its global patterns supports understanding of the ecological impacts of fires and responses of fires to climate *** variables have been widely used to quantify fire season in current ***,their results can not be used to assess climate impacts on the seasonality of fire *** we utilized satellite-based Moderate Resolution Imaging Spectroradiometer(MODIS)burned area data from 2001 to 2022 to identify global fire season types based on the number of peaks within a *** satellite data and innovatively processing the data to obtain a more accurate length of the fire *** divided fire season types and examined the spatial distribution of fire season types across the Koppen-Geiger climate(KGC)*** a global scale,we identified three major fire season types,including unimodal(31.25%),bimodal(52.07%),and random(16.69%).The unimodal fire season primarily occurs in boreal and tropical regions lasting about 2.7 *** comparison,temperate ecosystems tend to have a longer fire season(3 mon)with two peaks throughout the *** KGC zones show divergent contributions from the fire season types,indicating potential impacts of the climatic conditions on fire seasonality in these regions.

关键词： fire season fire season types Moderate Resolution Imaging Spectroradiometer(MODIS) burned area data Köppen-Geiger climate classification system global terrestrial ecosystems

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More Catastrophic Flow Events may Follow the Chamoli Rock and Ice Avalanche under Climate Change

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Journal of Earth Science 2024年第4期35卷 1382-1384页

作者： Haijun Qiu Ya Liu Bingzhe Tang Ninglian Wang Jiading Wang Shaanxi Key Laboratory of Earth Surface System and Environmental Carrying Capacity College of Urban and Environmental SciencesNorthwest UniversityXi’an 710127China Institute of Earth Surface System and Hazards Northwest UniversityXi’an 710127China State Key Laboratory of Continental Dynamics Department of GeologyNorthwest UniversityXi’an 710069China

0 INTRODUCTION Global warming not only exacerbates the instability of the climate system,causing more weather extremes but also has far-reaching impacts on surface systems,changing disaster environments(Qiu et al.,2024;Ye et al.,2024).The key medium between climate warming and the mountain environment is the cryosphere,whose recession increases the occurrence of chain disasters such as rock-ice avalanches and other flow events(Yang et al.,2023).

关键词： warming disaster climate

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