Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the ...Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.展开更多
In this paper,we calculated the spatial local-averaged velocity strains along the streamwise direction at four spatial scales according to the concept of spatial local-averaged velocity structure function by using the...In this paper,we calculated the spatial local-averaged velocity strains along the streamwise direction at four spatial scales according to the concept of spatial local-averaged velocity structure function by using the three-dimensional three-component database of time series of velocity vector field in the turbulent boundary layer measured by tomographic time-resolved particle image velocimetry.An improved quadrant splitting method,based on the spatial local-averaged velocity strains together with a new conditional sampling phase average technique,was introduced as a criterion to detect the coherent structure topology.Furthermore,we used them to detect and extract the spatial topologies of fluctuating velocity and fluctuating vorticity whose center is a strong second-quadrant event(Q2) or a fourth-quadrant event(Q4).Results illustrate that a closer similarity of the multi-scale coherent structures is present in the wall-normal direction,compared to the one in the other two directions.The relationship among such topological coherent structures and Reynolds stress bursting events,as well as the fluctuating vorticity was discussed.When other burst events are surveyed(the first-quadrant event Q1 and the third-quadrant event Q3),a fascinating bursting period circularly occurs:Q4-S-Q2-Q3-Q2-Q1-Q4-S-Q2-Q3-Q2-Q1 in the center of such topological structures along the streamwise direction.In addition,the probability of the Q2 bursting event occurrence is slightly higher than that of the Q4 event occurrence.The spatial instable singularity that almost simultaneously appears together with typical Q2 or Q4 events has been observed,which is the main character of the mutual induction mechanism and vortex auto-generation mechanism explaining how the turbulence is produced and maintained.展开更多
We have successfully synthesized Sr 2 CuO3+δ single crystals under high pressure and high temperature for the first time. The structure analysis show that this material crystallizes into tetragonal structure isostruc...We have successfully synthesized Sr 2 CuO3+δ single crystals under high pressure and high temperature for the first time. The structure analysis show that this material crystallizes into tetragonal structure isostructural La 2 CuO4 with single CuO 2 plane. The magnetic susceptibility as well as resistance measurements indicates that the bulk superconductivity with the critical transition temperature 37 K is achieved in the crystal.展开更多
Self-healing materials have attracted considerable attention because of their improved safety, lifetime, energy efficiency and environmental impact. Supramolecular interactions have been extensively considered in the ...Self-healing materials have attracted considerable attention because of their improved safety, lifetime, energy efficiency and environmental impact. Supramolecular interactions have been extensively considered in the field of self-healing materials due to their excellent reversibility and sensitive responsiveness to environmental stimuli. However,development of a polymeric material with good mechanical performance as well as self-healing capacity is very challenging. In this study, we report a robust self-healing polyurethane(PU) elastomer polypropylene glycol-2-amino-5-(2-hydroxyethyl)-6-methylpyrimidin-4-ol(PPG-mUPy) by integrating ureidopyrimidone(UPy) motifs with a PPG segment with a well-defined architecture and microphase morphology.To balance the self-healing capacity and mechanical performance, a thermal-triggered switch of H-bonding is introduced. The quadruple H-bonded UPy dimeric moieties in the backbone induce phase separation to form a hard domain as well as enable further aggregation into microcrystals by virtue of the stacking interactions, which are stable in ambient temperature. This feature endows the PU with high mechanical strength. Meanwhile, a high healing efficiency can be realized, when the reversibility of the H-bond was unlocked from the stacking at higher temperature. An optimized sample PPG1000-mUPy50%with a good balance of mechanical performance(20.62 MPa of tensile strength) and healing efficiency(93% in tensile strength) was achieved. This strategy will provide a new idea for developing robust self-healing polymers.展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.
基金supported by the National Basic Research Program of China(Grant No.2012CB720101)the National Natural Science Foundation of China(Grant No.10832001)the Opening Subject of State Key Laboratory of Nonlinear Mechanics,Institute of Mechanics,Chinese Academy of Sciences
文摘In this paper,we calculated the spatial local-averaged velocity strains along the streamwise direction at four spatial scales according to the concept of spatial local-averaged velocity structure function by using the three-dimensional three-component database of time series of velocity vector field in the turbulent boundary layer measured by tomographic time-resolved particle image velocimetry.An improved quadrant splitting method,based on the spatial local-averaged velocity strains together with a new conditional sampling phase average technique,was introduced as a criterion to detect the coherent structure topology.Furthermore,we used them to detect and extract the spatial topologies of fluctuating velocity and fluctuating vorticity whose center is a strong second-quadrant event(Q2) or a fourth-quadrant event(Q4).Results illustrate that a closer similarity of the multi-scale coherent structures is present in the wall-normal direction,compared to the one in the other two directions.The relationship among such topological coherent structures and Reynolds stress bursting events,as well as the fluctuating vorticity was discussed.When other burst events are surveyed(the first-quadrant event Q1 and the third-quadrant event Q3),a fascinating bursting period circularly occurs:Q4-S-Q2-Q3-Q2-Q1-Q4-S-Q2-Q3-Q2-Q1 in the center of such topological structures along the streamwise direction.In addition,the probability of the Q2 bursting event occurrence is slightly higher than that of the Q4 event occurrence.The spatial instable singularity that almost simultaneously appears together with typical Q2 or Q4 events has been observed,which is the main character of the mutual induction mechanism and vortex auto-generation mechanism explaining how the turbulence is produced and maintained.
基金supported by the National Natural Science Foundation of China (Grant No. 90921005)the Ministry of Science and Technology of China (Grant Nos. 2009CB929402 and 2011CBA00103)
文摘We have successfully synthesized Sr 2 CuO3+δ single crystals under high pressure and high temperature for the first time. The structure analysis show that this material crystallizes into tetragonal structure isostructural La 2 CuO4 with single CuO 2 plane. The magnetic susceptibility as well as resistance measurements indicates that the bulk superconductivity with the critical transition temperature 37 K is achieved in the crystal.
基金financially supported by the National Natural Science Foundation of China(51773131,51811530149and 51721091)the International S&T Cooperation Project of Sichuan Province(2017HH0034)
文摘Self-healing materials have attracted considerable attention because of their improved safety, lifetime, energy efficiency and environmental impact. Supramolecular interactions have been extensively considered in the field of self-healing materials due to their excellent reversibility and sensitive responsiveness to environmental stimuli. However,development of a polymeric material with good mechanical performance as well as self-healing capacity is very challenging. In this study, we report a robust self-healing polyurethane(PU) elastomer polypropylene glycol-2-amino-5-(2-hydroxyethyl)-6-methylpyrimidin-4-ol(PPG-mUPy) by integrating ureidopyrimidone(UPy) motifs with a PPG segment with a well-defined architecture and microphase morphology.To balance the self-healing capacity and mechanical performance, a thermal-triggered switch of H-bonding is introduced. The quadruple H-bonded UPy dimeric moieties in the backbone induce phase separation to form a hard domain as well as enable further aggregation into microcrystals by virtue of the stacking interactions, which are stable in ambient temperature. This feature endows the PU with high mechanical strength. Meanwhile, a high healing efficiency can be realized, when the reversibility of the H-bond was unlocked from the stacking at higher temperature. An optimized sample PPG1000-mUPy50%with a good balance of mechanical performance(20.62 MPa of tensile strength) and healing efficiency(93% in tensile strength) was achieved. This strategy will provide a new idea for developing robust self-healing polymers.