检索结果-内蒙古大学图书馆

Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

来源：评论

学校读者我要写书评

暂无评论

High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

引用

International Journal of advanced Manufacturing technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

来源：评论

学校读者我要写书评

暂无评论

Characteristics of radio-frequency magnetron sputtering with Ag target operated near the electron series resonance oscillation

引用

Plasma Science and technology 2025年第3期27卷 111-117页

作者： Chao YE School of Physics Science and Technology Jiangsu Key Laboratory of Frontier Material Physics and DevicesSoochow UniversitySuzhou 215006People’s Republic of China Jiangsu Key Laboratory of Advanced Negative Carbon Technologies Soochow UniversitySuzhou 215123People’s Republic of China

The discharge and plasma characteristics of Ag magnetron sputtering discharge operated near the electron series resonance(ESR)oscillation,which was excited using the driving frequency of 27.12 MHz,was *** imaginary part of impedance was found to undergo a transition from capacitive to inductive on varying radio-frequency(RF)power,and the conditions for the ESR excitation were *** current–voltage(I–V)characteristic of discharge showed that the lower discharge voltage with higher current was an important feature of RF magnetron sputtering operated near the ESR oscillation,which was caused by the small impedance Z originated from the mutual compensation between the sheath capacitive reactance and the plasma inductive *** higher electron temperature,ion flux density and ion energy as well as the moderate electron density were *** interaction of higher energy ions on substrate surface improved the crystallographic quality of Ag ***,the 27.12 MHz magnetron sputtering operated near the ESR oscillation has better deposition characteristics than that of commercial 13.56 MHz RF magnetron sputtering.

关键词： electron series resonance magnetron sputtering radio-frequency discharge

来源：评论

学校读者我要写书评

暂无评论

Co@C-N as an electronic mediator anchored with Cu2O nanoparticles enables efficient photoreduction of CO2 to CO with nearly 100% selectivity

引用

Science China Chemistry 2025年第5期68卷 2160-2169页

作者： Xingbin Pan Xiuzheng Deng Jingshan Fan Jiangchuan Liu Changhai Liu Zhongyu Li Qian Liang Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology CNPC-CZU Innovation AllianceSchool of Petrochemical EngineeringChangzhou University School of Materials Science & Engineering Changzhou University

Solar-driven CO2conversion into value-added chemical provides an attractive strategy for sustainable ***,the enhanced CO2photoreduction performance with target product selectivity remains a major ***,we develop a novel strategy involving Cu2O nanoparticles in situ grown on the surface of ZIF-67-derived Co@C-N nanocages（CC） to create abundant active sites and appropriate heterointerfaces.A remarkable CO selectivity of 95.7% with a yield of 117.39 μmol g-1h-1and an apparent quantum efficiency as high as 1.88% at 420 nm was obtained over CC-60 catalyst in pure water,which was 87.6 times higher than that of pure *** calculations and experiments indicated that Co@C-N nanocages as charge mediator not only rapidly trap photogenerated electrons to promote charge separation efficiency,but also regulate the d-band center of Cu atoms to move to the Fermi energy level,thereby optimizing the reaction kinetics to facilitate the highly selective conversion of the key intermediate*CO desorption to CO.

关键词： Co nanocage electronic mediator interface regulation photocatalytic CO2 reduction high selectivity

来源：评论

学校读者我要写书评

暂无评论

Boron cluster-based TADF emitter via through-space charge transfer enabling efficient orange-red electroluminesce

引用

Chinese Chemical Letters 2025年第3期36卷 232-238页

作者： Xiao Yu Dongyue Cui Mengmeng Wang Zhaojin Wang Mengzhu Wang Deshuang Tu Vladimir Bregadze Changsheng Lu Qiang Zhao Runfeng Chen Hong Yan State Key Laboratory of Coordination Chemistry Jiangsu Key Laboratory of Advanced Organic MaterialsSchool of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023China Key Laboratory for Organic Electronics and Information Displays&Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Jiangsu National Synergistic Innovation Center for Advanced Materials(SICAM)Nanjing University of Posts&TelecommunicationsNanjing 210023China Key Laboratory for Advanced Technology in Environmental Protection of Jiangsu Province Yancheng Institute of TechnologyYancheng 224051China College of Electronic and Optical Engineering&College of Flexible Electronics(Future Technology) Nanjing University of Posts&TelecommunicationsNanjing 210023China A.N.Nesmeyanov Institute of Organoelement Compounds(INEOS) Russian Academy of SciencesMoscow 119991Russia

Thermally activated delayed fluorescence(TADF)materials driven by a through-space charge transfer(TSCT)mechanism have garnered wide ***,access of TSCT-TADF molecules with longwavelength emission remains a formidable *** this study,we introduce a novel V-type DA-D-A’emitter,Trz-mCzCbCz,by using a carborane *** design strategically incorporates carbazole(Cz)and 2,4,6-triphenyl-1,3,5-triazine(Trz)as donor and acceptor moieties,*** calculations alongside experimental validations affirm the typical TSCT-TADF characteristics of this *** to the unique structural and electronic attributes of carboranes,Trz-mCzCbCz exhibits an orange-red emission,markedly diverging from the traditional blue-to-green emissions observed in classical Cz and Trz-based TADF ***,bright emission in aggregates was observed for Trz-mCzCbCz with absolute photoluminescence quantum yield(PLQY)of up to 88.8%.As such,we have successfully fabricated five organic light-emitting diodes(OLEDs)by utilizing Trz-mCzCbCz as the emitting *** is important to note that both the reverse intersystem crossing process and the TADF properties are profoundly influenced by host *** fabricated OLED devices reached a maximum external quantum efficiency(EQE)of 12.7%,with an emission peak at 592 *** represents the highest recorded efficiency for TSCT-TADF OLEDs employing carborane derivatives as emitting layers.

关键词： Thermally activated delayed fluorescence Through-space charge transfer Carborane Boron clusters Organic light-emitting diodes

来源：评论

学校读者我要写书评

暂无评论

Modulated synthesis of stoichiometric and sub-stoichiometric two-dimensional covalent organic frameworks for enhanced ethylene purification

引用

Chinese Chemical Letters 2025年第1期36卷 272-276页

作者： Jiahao Li Guinan Chen Chunhong Chen Yuanyuan Lou Zhihao Xing Tao Zhang Chengtao Gong Yongwu Peng College of Materials Science and Engineering Zhejiang University of TechnologyHangzhou 310014China State Key Laboratory of Organic Electronics and Information Displays&Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)Nanjing University of Posts and TelecommunicationsNanjing 210023China

Controlled synthesis of two-dimensional covalent organic frameworks(2D COFs),including stoichiometric and sub-stoichiometric variations,is a topic of growing interest due to its potential in gas separation *** this study,we successfully synthesized three distinct 2D COFs by carefully adjusting solvent compositions and monomer ratios during the synthesis of[4+4]type *** included a stoichiometric[4+4]type COF and two sub-stoichiometric[4+2]type COFs,featuring unreacted amino or formyl *** resulting COFs exhibit different gas adsorption and separation ***,sub-stoichiometric COF-DA with residual amino groups shows comparable adsorption capacity for C_(2)H_(2),C_(2)H_(4),and CO_(2)to stoichiometric *** contrast,sub-stoichiometric COF-Py with residual formyl groups displays enhanced adsorption selectivity for C_(2)H_(2)/C_(2)H_(4)and C_(2)H_(2)/CO_(2)separation,with the C_(2)H_(2)/C_(2)H_(4)selectivity being the highest among reported COFs,attributed to increased pore polarity resulting from the presence of formyl *** study not only offers an additional example of substoichiometric COF synthesis but also advocates for further exploration of sub-stoichiometric COF materials,particularly in the field of gas adsorption and separation.

关键词： Two-dimensional covalent organic frameworks Stoichiometric and sub-stoichiometric Residual functional groups Ethylene purification

来源：评论

学校读者我要写书评

暂无评论

Investigation on structural optimization of rotational hydrodynamic cavitation reactor with a tapered rotor for organic dyes degradation

引用

Chemical Engineering Research and Design 2025年 218卷 653-663页

作者： Liu, Huiyang Zhao, Jiejun Yu, Jianfeng School of Mechanical Engineering Jiangnan University Jiangsu Wuxi China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment & Technology Jiangsu Wuxi China Textile Industrial Products Testing Center of Nanjing Customs District Jiangsu Wuxi China

Rotational hydrodynamic cavitation reactor (RHCR) has been demonstrated to offer significant advantages in wastewater treatment. The structure of RHCR requires further optimization to improve its effectiveness in organic pollutant degradation. A new RHCR with a tapered rotor and internal passages (RHCR-T) was designed. Cavitation in RHCR-T was generated by pressure changes and shear effects caused by the tapered rotor. The effects of structure parameters of RHCR-T on degradation performance were investigated by ozonation degradation experiments. With degradation rate and energy utilization efficiency as evaluation indicators, five structural parameters including axial indentation number, stator-rotor interaction distance, inclination angle of cavitation generation units, internal passage number, and internal passage diameter were studied. A degradation rate of 84.3 % for simulated dye wastewater was achieved within 18 minutes, with a pseudo first-order reaction rate constant of 0.099 min−1, and an electric energy per order of 120.7 kWh/order/m3. The energy consumption of RHCR-T is 68 % lower than that of the reported system combining hydrodynamic cavitation and ozonation, with the operating cost decreased by 14 %. The findings of this work demonstrate practicality and economics of the RHCR in the field of wastewater treatment. © 2025 Institution of Chemical Engineers

关键词： Ozonization

来源：评论

学校读者我要写书评

暂无评论

Methanolysis of ammonia borane catalyzed by NiO-CuO heterostructured nanosheets:cooperation of visible light and oxygen vacancy

引用

Rare Metals 2025年第1期44卷 389-403页

作者： You-Xiang Shao Yuan-Zhong Li Xue-Qi Lian Xiao-Ting Che Qian-Yi Li Yu-Fa Feng Hui-Ze Wang Jin-Yun Liao Quan-Bing Liu Hao Li School of Chemistry and Materials Engineering Huizhou UniversityHuizhou 516007China Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology Changzhou UniversityChangzhou 213164China Guangzhou Key Laboratory of Clean Transportation Energy Chemistry School of Chemical Engineering and Light IndustryGuangdong University of TechnologyGuangzhou 510006China

Developing cost-effective and high-activity catalysts for the methanolysis of ammonia borane(AB)has attracted great attention in the field of hydrogen energy *** the modification of the electronic structure of the catalysts,external factors such as visible light irradiation can improve the efficiency of hydrogen production as *** the present study,a Z-scheme heterostructured VO-Cu_(0.5)Ni_(0.5)O catalysts were constructed by introducing a plenteous phase interface and oxygen vacancy(Vo).The catalytic activity of as-prepared VO-Cu_(0.5)Ni_(0.5)O toward AB methanolysis has been improved dramatically with the assistance of visible light *** turnover frequency(TOF)under visible light irradiation was measured to be 29_(mol)H_(2)·mol_(cat.)^(-1)·min^(-1),which is 1.4 times larger than the TOF in the absence of visible *** characterization experiments and density functional theory(DFT)calculations were conducted to unveil the causation of enhanced catalytic *** results demonstrated that the enhancement of the catalytic activity of VO-Cu_(0.5)Ni_(0.5)O originated from the electronic structure modification induced by the formation of heterojunctions,the introduction of oxygen vacancies,and the assistance of visible light *** formation of heterojunction and the introduction of oxygen vacancies provoked the upshift of the d-band center;while the visible light irradiation induced the photogenerated electrons to transfer from Cu to Ni sites at the *** electron structure modulation is beneficial for the construction of abundant active sites,thereby enhancing the adsorption of methanol on the Ni sites,which is considered as the rate-determine step for the methanolysis of *** strong interaction between Ni and O weakened the O-H bond of methanol,accelerating the methanolysis of *** results demonstrate the utilization of combined heterojunction,oxygen vacancy,and visible light to explore highly active

关键词： Ammonia borane Methanolysis Heterojunction Oxygen vacancy Density functional theory(DFT)calculation

来源：评论

学校读者我要写书评

暂无评论

Experimental and Numerical Study on the Trailing Edge Cutback Cooling Characteristics with POD Analysis

引用

Journal of Thermal Science 2025年第3期34卷 834-849页

作者： LIU Jiajie WANG Pengfei WANG Pei LIU Jun DU Qiang WANG Haohan WANG Zhiguo SHEN Xin ZHU Junqiang Key Lab of Light-duty Gas-turbine Institute of Engineering TermophysicsChinese Academy of Sciences University of Chinese Academy of Sciences National Key Laboratory of Science and Technology on Advanced Light-duty Gas-turbine Research Center of Fluid Machinery Engineering and Technology Jiangsu University

This paper investigates the film cooling characteristics and flow structure of trailing edge cutback in turbine vanes,and explains the unsteady flow mixing mechanism of this cooling structure using Proper Orthogonal Decomposition（POD） *** Delayed Detached Eddy Simulation（DDES） turbulence model was used to obtain detailed information about the velocity and temperature field for the POD *** verify the accuracy of the numerical results,fast-response Pressure Sensitive Paint（PSP） and high-frequency Particle Image Velocimetry（PIV） experiments were also conducted,and the results achieved good *** the blowing ratio increases,the effectiveness η of the cutback's film cooling exhibits a "increase-decrease-increase" trend,with η reaching its minimum point at around a blowing ratio(Mslot) of *** kinds of coherent vortex structures are observed in the flow field at different blowing *** to the analysis using the POD method,the first and second order modes of a Karman-like vortex street are observed in the vicinity of the wall at various blowing *** coherent flow structure is directly related to the mixing intensity between the mainstream gas and the *** Mslot=0.75,these modes had the highest energy ratio and formed a stable dominant coherent structure in the flow *** the blowing ratio increases,the main characteristic modes in the temperature field gradually change,and the mode appears crescent-shaped when the effectiveness of film cooling is at its *** paper combines the vortex structure of the flow field to explain the flow field feature distribution at the lowest effectiveness point η and analyzes its impact on the film cooling characteristics of the protected surface.

关键词： film cooling Proper Orthogonal Decomposition (POD) shedding vortices trailing edge cutback unsteady flow mixing

来源：评论

学校读者我要写书评

暂无评论

FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

引用

IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：