Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining robots.However,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design stage.It is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design stage.Considering the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration stiffness.Subsequently,a specific method is proposed to calculate these stiffness indices.Initially,the various types of structural and driving stiffness for each branch are assessed and their specific values defined.Subsequently,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire workspace.Finally,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method above.The obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

Real-Time Wind Speed Analysis at Wind-Damaged Tower of a Transmission Line

Affected by the Super Typhoon“Mangkhut,”a total of five base towers of a transmission line in the mountainous area of China collapsed.In this paper,a mathematical model is established based on the Shuttle Radar Topography Mission(SRTM)data near the accident tower.The measured wind speed in the plain area under the mountain is used as the calculation boundary condition.The wind speed at the top of the mountain is calculated by using a numerical simulation method.The design wind speed and calculated wind speed at the tower site are compared,and the influence of wind speed on tower position in this wind disaster accident is analyzed.

KH-550改性纳米二氧化钛对芳纶纳米薄膜抗紫外及力学性能的影响

通过二甲基亚砜/氢氧化钾(DMSO/KOH)体系溶解宏观对位芳纶纤维(AF)制备芳纶纳米纤维(ANF),研究KH-550改性后的纳米TiO_2对芳纶纳米薄膜抗紫外及力学性能的影响。利用扫描电镜、傅里叶变换红外光谱仪、热重分析仪、拉力试验机、耐黄变试验机等仪器对ANF薄膜及添加改性纳米TiO_2的复合薄膜的表面形貌、化学组分、耐热性能、力学性能和抗紫外性能等进行表征。结果表明,当纳米粒子的质量分数为4%时,复合薄膜的力学性能达到最高,其拉伸强度为139.83 MPa,相比ANF薄膜提高了24.23%;此外,经紫外光照射后,复合薄膜(4%)的拉伸强度为149.92 MPa,相比照射前提高了7.22%。研究表明,添加改性纳米TiO_2后,该复合薄膜的抗紫外及力学性能都得到了较大改善。

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains overconstraints.Considering the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is proposed.The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations.The relationship between the constraint wrench magnitudes and the external force,limb stiffness is established.The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations.Here,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is investigated.Combining with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is explored.Finally,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed.The research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable mechanism.Firstly,the basic unit folding principle and expansion method is proposed.The configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic unit.Then,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling method.Next,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried out.Based on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in detail.Finally,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the pyramid.The proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and lightweight.It has a good application prospect in the aerospace field.

Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel mechanism.In this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the ULSM.Kinematic analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one DOF.Velocity and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation transformation.Based on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB software.In addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole mechanism.The mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

Repurposing lansoprazole to alleviate metabolic syndrome via PHOSPHO1 inhibition

Drug repurposing offers an efficient approach to therapeutic development.In this study,our bioinformatic analysis first predicted an association between obesity and lansoprazole(LPZ),a commonly prescribed drug for gastrointestinal ulcers.We went on to show that LPZ treatment increased energy expenditure and alleviated the high-fat diet-induced obesity,insulin resistance,and hepatic stea-tosis in mice.Treatment with LPZ elicited thermogenic gene expression and mitochondrial respiration in primary adipocytes,and induced cold tolerance in cold-exposed mice,suggesting the activity of LPZ in promoting adipose thermogenesis and energy metabolism.Mechanistically,LPZ is an efficient inhibitor of adipose phosphocholine phosphatase 1(PHOSPHOI)and produces metabolic benefits in a PHOS-PHO1-dependent manner.Our results suggested that LPZ may stimulate adipose thermogenesis by inhi-biting the conversion of 2-arachidonoylglycerol-lysophosphatidic acid(2-AG-LPA)to 2-arachidonoylglycerol(2-AG)and reduce the activity of the thermogenic-suppressive cannabinoid recep-tor signaling.In summary,we have uncovered a novel therapeutic indication and mechanism of LPZ in managing obesity and its related metabolic syndrome,and identified a potential metabolic basis by which LPZ improves energy metabolism.

Effects of pH and particle size on kinetics of nitrobenzene reduction by zero-valent iron

Nitrobenzene has been considered as a significant groundwater contaminant due to its wide usage in explosives, insecticides, herbicides, pharmaceuticals and dyes. Nitrobenzene is of environmental concern because of its toxicity. In the presence of zero-valent iron （ZVI）, reduction of the nitro group is the dominant transformation process for nitrobenzene. A series of experiments were carried out to investigate the kinetics of nitrobenzene reduction by ZVI and the effects of pH and ZVI particle size on nitrobenzene removal in groundwater. The results indicated that nitrobenzene could be reduced to aniline by ZVI; the reduction of nitrobenzene by ZVI followed a pseudo first-order kinetics; the observed nitrobenzene reduction rate constant （k obs ） was 0.0006 min^-1 and the half-life of nitrobenzene （t 1/2 ） was 115.5 min; the mass balance achieved 87.5% for nitrobenzene reduction by the 1 mm ZVI particle and the final removal efficiency was 80.98%. In addition, the pH and ZVI particle size were found to exhibit significant influences on the nitrobenzene reduction. The observed nitrobenzene reduction rate constant linearly decreased with increase pH and the data fitted on polynomial regression equation for the observed nitrobenzene reduction rate constant and ZVI particle size. Therefore, use of ZVI based permeable reactive barrier technology to remedy nitrobenzene contaminated groundwater was feasible.

Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of aerospace.In order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative analysis.Then,the screw theory is employed to analyze the mobility of different mechanisms.Furthermore,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division results.Finally,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical perspective.The research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.

Design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit

Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3 RR-3 RRR deployable unit cannot be fully folded, this study proposes a 3 UU-3 URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3 UU-3 URU unit is analyzed. Then, the 3 UU-3 URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3 UU-3 URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3 UU-3 URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified.

Nitrobenzene contamination of groundwater in a petrochemical industry site

Organic contamination of groundwater is a major concern in China.However,remediation technology for groundwater contamination to address the potential harm and danger brought by the abovementioned serious issue is still in the research stage.This study aims to improve the current research findings.In the research project,drilling,soil,and groundwater sampling and analysis were conducted in a contamination site of a petrochemical plant,migration of contaminants to the river was predicted using a numerical model,the sequence permeable reactive barrier(PRB)for treating nitrobenzene(NB)and benzene was proposed,and simulation was carried out.Research findings demonstrated that three leaking locations had been identified in the plant,the major pollutants were NB and benzene,and the groundwater contamination area was around 640000 m2.Computation results of the numerical model indicated that,in the worst case,the groundwater plume would reach the river after migration for nearly 9 years,which would endanger the safety of surface water supply.Furthermore,the twoPRB system with the filling of zero-valent iron(ZVI)and granular activated carbon attached with biofilm exerted strong remediation effects.Experimental results indicated that ZVI could transform NB to aniline effectively with a rate of approximately 93%.Meanwhile,aniline,benzene,and other organic pollutants could easily be biodegraded.

The distribution and sources of polycyclic aromatic hydrocarbons in shallow groundwater from an alluvial-diluvial fan of the Hutuo River in North China

This paper has investigated the concentration and distribution of polycyclic aromatic hydrocarbons in shallow groundwater from an alluvial-diluvial fan of the Hutuo River in North concentration levels of China.Results show that the 16 priority polycyclic aromatic hydrocarbons range from 0 to 92.06 ng/L,do not conform to drinking water quality standards in China (GB 5749-2006).However,the concentration figures of priority polycyclic aromatic hydrocarbons are much lower than that of other studies conducted elsewhere in China.In addition,highly-concentrated polycyclic aromatic hydrocarbons (50-92 ng/L)are fragmentarily distributed.The composition of polycyelic aromatic hydrocarbons from this study indicates that low molecular polycyclic aromatic hydrocarbons are predominant in groundwater samples, medium molecular compounds occur at low concentrations,and high molecular hydrocarbons are not detected. The polycyclic aromatic hydrocarbon composition in groundwater samples is basically the same as that of gaseous samples in the atmosphere in this study.Therefore, the atmospheric input is assumed to be an important source of polycyclic aromatic hydrocarbons,no less than wastewater discharge,adhesion on suspended solids,and surface water leakage.Ratios of specific polycyclic aromatic hydrocarbons demonstrate that they mainly originate from wood or coal combustion as well as natural gas and partially from petroleum according to the result of principal component analysis.On the whole,conclusions are drawn that the contamination sources of these polycyclic aromatic hydrocarbons are likely petrogenic and pyrolytic inputs.Future investigations by sampling topsoil,vadose soil,and the atmosphere can further verify aforementioned conclusions.

Influence of the structure and composition of Fe–Mn binary oxides on rGO on As(Ⅲ) removal from aquifers

Fe–Mn binary oxide(FMBO) possesses high efficiency for As(Ⅲ) abatement based on the good adsorption affinity of iron oxide and the oxidizing capacity of Mn(Ⅳ), and the composition and structure of FMBO play important roles in this process.To compare the removal performance and determine the optimum formula for FMBO, magnetic graphene oxide(MRGO)–FMBO and MRGO–MnO2 were synthesized with MRGO as a carrier to improve the dispersity of the adsorbents in aquifers and achieve magnetic recycling.Results indicated that MRGO–FMBO had higher As(Ⅲ) removal than that of MRGO–MnO2,although the ratios of Fe and Mn were similar, because the binary oxide of Fe and Mn facilitated electron transfer from Mn(Ⅳ) to As(Ⅲ), while the separation of Mn and Fe on MRGO–MnO2 restricted the process.The optimal stoichiometry x for MRGO–FMBO(MnxFe3-xO4) was 0.46, and an extraordinary adsorption capacity of 24.38 mg/g for As(Ⅲ) was achieved.MRGO–FMBO showed stable dispersive properties in aquifers, and exhibited excellent practicability and reusability, with a saturation magnetization of 7.6 emu/g and high conservation of magnetic properties after 5 cycles of regeneration and reuse.In addition, the presence of coexisting ions would not restrict the practical application of MRGO–FMBO in groundwater remediation.The redox reactions of As(Ⅲ) and Mn(Ⅳ) on MRGO–FMBO were also described.The deprotonated aqueous As(Ⅲ) on the surface of MRGO–FMBO transferred electrons to Mn(Ⅳ), and the formed As(Ⅴ) oxyanions were bound to ferric oxide as inner-sphere complexes by coordinating their "–OH" groups with Mn(Ⅳ)oxides at the surface of MRGO–FMBO.This work could provide new insights into highperformance removal of As(Ⅲ) in aquifers.

Flexible,robust,sandwich structure polyimide composite film with alternative MXene and Ag NWs layers for electromagnetic interference shielding

The design and fabrication of electromagnetic interference shielding films with a novel structure to eliminate undesirable electromagnetic pollution is an important research direction.However,it is still a challenge to combine and organize nanofillers in different dimensions into the structured network in polymer-based electromagnetic interference(EMI)shielding composites.In this work,a sandwich struc-ture polyimide(PI)composite film with alternative 2D-MXene network and 1D-Silver nanowires(Ag NWs)network was prepared through the“electrospinning-immersion-hot pressing”method.With the increase of Ag NWs content,the EMI shielding effectiveness(SE)gradually increases while maintaining good flexibility and mechanical robustness.The EMI SE and the tensile strength of 150μm thick sand-wich composite film can reach up to 79.54 dB and 39.82 MPa,respectively.The prepared flexible and robust PI composite film with a sandwich structure has high EMI SE with less metal content,which can provide guidelines for the development of high-performance EMI polymeric films with potentials in wearable devices and equipment.

Moving target localization in distributed MIMO radar with transmitter and receiver location uncertainties

In this paper, the problem of moving target localization from Bistatic Range(BR) and Bistatic Range Rate(BRR) measurements in a Multiple-Input Multiple-Output(MIMO) radar system having widely separated antennas is investigated. We consider a practically motivated scenario,where the accurate knowledge of transmitter and receiver locations is not known and only the nominal values are available for processing. With the transmitter and receiver location uncertainties,which are usually neglected in MIMO radar systems by prior studies, taken into account in the measurement model, we develop a novel algebraic solution to reduce the estimation error for moving target localization. The proposed algorithm is based on the pseudolinear set of equations and two-step weighted least squares estimation. The Cramer-Rao Lower Bound(CRLB) is derived in the presence of transmitter and receiver location uncertainties. Theoretical accuracy analysis demonstrates that the proposed solution attains the CRLB, and numerical examples show that the proposed solution achieves significant performance improvement over the existing algorithms.

Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface

With the development of the aerospace industry,space missions are becoming more complicated and diversified,and there is a demand for antenna mechanisms with a larger physical aperture.In this paper,a planar deployable mechanism is proposed,which can form a flat reflection surface with a small gap between plates.To this end,a novel large-scale two-dimensional deployable nine-grid planar antenna mechanism is designed.First,two antenna folding schemes and four supporting mechanism schemes are proposed.Through comparison analysis,the antenna configuration scheme with the best comprehensive performance is selected.A kinematic model of the deployable mechanism is established,and its kinematic characteristics are analyzed.Then,the correctness of the kinematic model is verified by comparing the analytical and simulation results of the kinematic model.Subsequently,a finite element model of the antenna is developed.Based on the response surface method,the structural parameters of the support rods of the antenna are optimized,and a set of optimized solutions with lightweight and high fundamental frequency characteristics are obtained.Finally,a prototype of the proposed nine-grid planar antenna is fabricated.The feasibility of the deployment principle and the rationality of the designed mechanism are verified by deployment experiments.

Maternal genetic structure in ancient Shandong between 9500 and 1800 years ago

Archaeological and ancient DNA studies revealed that Shandong,a multi-culture center in northern coastal China,was home to ancient populations having ancestry related to both northern and southern East Asian populations.However,the limited temporal and geographical range of previous studies have been insufficient to describe the population history of this region in greater detail.Here,we report the analysis of 86 complete mitochondrial genomes from the remains of 9500 to 1800-year-old humans from12 archaeological sites across Shandong.For samples older than 4600 years before present(BP),we found haplogroups D4,D5,B4 c1,and B5 b2,which are observed in present-day northern and southern East Asians.For samples younger than 4600 BP,haplogroups C(C7 a1 and C7 b),M9(M9 a1),and F(F1 a1,F2 a,and F4 a1)begin to appear,indicating changes in the Shandong maternal genetic structure starting from the beginning of the Longshan cultural period.Within Shandong,the genetic exchange is possible between the coastal and inland regions after 3100 BP.We also discovered the B5 b2 lineage in Shandong populations,with the oldest Bianbian individual likely related to the ancestors of some East Asians and North Asians.By reconstructing a maternal genetic structure of Shandong populations,we provide greater resolution of the population dynamics of the northern coastal East Asia over the past nine thousand years.

Type synthesis of deployable mechanisms for ring truss antenna based on constraint-synthesis method

Space deployable antenna is the key equipment in realizing the communication and data transmission between the spacecraft and the earth.In order to enrich the configurations of deployable antennas,the type synthesis of deployable mechanisms for ring truss antenna is conducted in this study.First,the principle of the constraint-synthesis method based on screw theory is briefly described,the structure of the ring truss deployable antenna and its folding principle are analyzed,and the ring truss mechanism is divided into upper edges,lower edges and linkages.Then,based on the constraint-synthesis method,the type synthesis of the basic unit edges is carried out,a series of basic unit mechanisms are obtained from combining the basic unit edge mechanisms,and five mechanism units with fewer joints and simple structures are selected.Furthermore,simulation models of the five ring truss deployable mechanisms are built in Solidworks and Matlab software,and the deploying process is verified by the movement simulation.Finally,mechanism characteristics of the five mechanisms are analyzed and discussed,and a prototype is manufactured,verifying the analysis in this paper.This research provides a new way for the type synthesis of spatial deployable mechanisms,and the ring truss deployable mechanisms obtained in this study can be well applied in the field of aerospace.

Effect of illumination on the hydrogen-production capability of anaerobic activated sludge

To investigate the influence of illumination on the fermentative hydrogen production system, the hydro- gen production efficiencies of two kinds of anaerobic activated sludge （floc and granule） from an anaerobic baffled reactor were detected under visible light, dark and light-dark, respectively. The 10 mL floc sludge or granular sludge was respectively inoculated to 100 mL diluted molasses （chemical oxygen demand of 8000 mg.L^-1） in a 250 mL serum bottle, and cultured for 24 h at 37℃ under different illumination conditions. The results showed that the floc was more sensitive to illumination than the granule. A hydrogen yield of 19.8 mL was obtained in the dark with a specific hydrogen production rate of 3.52mol.kgLMLVSS.d^-1 （floc）, which was the highest among the three illumination conditions. Under dark condition, the hydrogen yield of floc sludge reached the highest with the specific hydrogen production rate of 3.52mol.kg^-1MLVSS.d^-1, and under light-dark, light, the specific hydrogen production rate was 3.11 and 2.21mol.kg^-1 MLVSS.d-1, respectively. The results demonstrated that the illumination may affect the dehydrogenase activity of sludge as well as the activity of hydrogen-producing acetogens and then impact hydrogen production capacity.