Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Modulating charge separation and transfer for high-performance photoelectrodes via built-in electric field

Constructing a built-in electric field has emerged as a key strategy for enhancing charge separation and transfer,thereby improving photoelectrochemical performance.Recently,considerable efforts have been devoted to this endeavor.This review systematically summarizes the impact of built-in electric fields on enhancing charge separation and transfer mechanisms,focusing on the modulation of built-in electric fields in terms of depth and orderliness.First,mechanisms and tuning strategies for built-in electric fields are explored.Then,the state-of-the-art works regarding built-in electric fields for modulating charge separation and transfer are summarized and categorized according to surface and interface depth.Finally,current strategies for constructing bulk built-in electric fields in photoelectrodes are explored,and insights into future developments for enhancing charge separation and transfer in high-performance photoelectrochemical applications are provided.

Anti-aging performance improvement and enhanced combustion efficiency of boron via the coating of PDA

Boron is an ambitious fuel in energetic materials since its high heat release values,but its application is prohibited by low combustion efficiency and oxidization during storage.The polydopamine(PDA)was introduced into boron particles,investigating the impact of PDA content on the energetic behavior of boron.The results indicated that the PDA coating formed a fishing net structure on the surface of boron particles.The heat release results showed that the combustion calorific value of B@PDA was higher than that of the raw boron.Specifically,the actual combustion heat of boron powder in B@10%PDA increased by 38.08%.Meanwhile,the DSC peak temperature decreased by 100.65℃under similar oxidation rate compared to raw boron.Simultaneously,the B@PDA@AP and B@AP composites were prepared,and their combustion properties were evaluated.It was demonstrated that B@10%PDA@AP exhibited superior performance in terms of peak pressure and burning time,respectively.The peak pressure is 12.43 kPa more than B@AP and burning time is 2.22 times higher than B@AP.Therefore,the coating of PDA effectively inhibits the oxidization of boron during storage and enhances the energetic behavior of boron and corresponding composites.

Degradable magnesium alloy suture promotes fibrocartilaginous interface regeneration in a rat rotator cuff transosseous repair model

Despite transosseous rotator cuff tear repair using sutures is widely accepted for tendon-bone fixation,the fibrocartilaginous enthesis regeneration is still hardly achieved with the traditional sutures.In the present work,degradable magnesium(Mg)alloy wire was applied to suture supraspinatus tendon in a rat acute rotator cuff tear model with Vicryl Plus 4±0 absorbable suture as control.The shoulder joint humerus-supraspinatus tendon complex specimens were retrieved at 4,8,and 12 weeks after operation.The Mg alloy suture groups showed better biomechanical properties in terms of ultimate load to failure.Gross observation showed that hyperplastic response of the scar tissue at the tendon-bone interface is progressively alleviated over time in the both Mg alloy suture and Vicryl suture groups.In the histological analysis,for Mg alloy suture groups,chondrocytes appear to proliferate at 4 weeks postoperatively,and the tendon-bone interface showed an orderly structural transition zone at 8 weeks postoperatively.The collagenous fiber tended to be aligned and the tendon-bone interlocking structures apparently formed,where transitional structure from unmineralized fibrocartilage to mineralized fibrocartilage was closer to the native fibrocartilaginous enthesis.In vivo degradation of the magnesium alloy wire was completed within 12 weeks.The results indicated that Mg alloy wire was promising as degradable suture with the potential to promotes fibrocartilaginous interface regeneration in rotator cuff repair.

A triboelectric nanogenerator based on a spiral rotating shaft for efficient marine energy harvesting of the hydrostatic pressure differential

Equipment used in underwater sensing and exploration typically relies on cables or batteries for energy supply,resulting in a limited and inconvenient energy supply and marine environmental pollution that hinder the sustainable development of distributed ocean sensing networks.Here,we design a deep-sea differential-pressure triboelectric nanogenerator(DP-TENG)based on a spiral shaft drive using modified polymer materials to harness the hydrostatic pressure gradient energy at varying ocean depths to power underwater equipment.The spiral shaft structure converts a single compression into multiple rotations of the TENG rotor,achieving efficient conversion of differential pressure energy.The multi-pair electrode design enables the DP-TENG to generate a peak current of 61.7μA,the instantaneous current density can reach 0.69μA cm^(-2),and the output performance can be improved by optimizing the spiral angle of the shaft.The DP-TENG can charge a 33μF capacitor to 17.5 V within five working cycles.It can also power a digital calculator and light up 116 commercial power light-emitting diodes,demonstrating excellent output capability.With its simple structure,low production cost,and small form factor,the DP-TENG can be seamlessly integrated with underwater vehicles.The results hold broad prospects for underwater blue energy harvesting and are expected to contribute to the development of self-powered equipment toward emerging“smart ocean”and blue economy applications.

Interlayer Magnetic Interaction in the CrI_(3)/CrSe_(2) Heterostructure

Based on first-principles calculations, we systematically study the stacking energy and interlayer magnetic interaction of the heterobilayer composed of CrI_(3) and CrSe_(2) monolayers. It is found that the stacking order plays a crucial role in the interlayer magnetic coupling. Among all possible stacking structures, the AA-stacking is the most stable heterostructure, exhibiting interlayer antiferromagnetic interactions. Interestingly, the interlayer magnetic interaction can be effectively tuned by biaxial strain. A 4.3% compressive strain would result in a ferromagnetic interlayer interaction in all stacking orders. These results reveal the magnetic properties of CrI_(3)/CrSe_(2) heterostructure, which is expected to be applied to spintronic devices.

Shenqi Fuzheng injection alleviates chemotherapy-induced cachexia by restoring glucocorticoid signaling in hypothalamus

Chemotherapy-induced cachexia(CIC)is a debilitating condition characterized by weight loss,muscle atrophy,and anorexia[1].While peripheral mechanisms of cachexia have been extensively studied,the involvement of the central nervous system(CNS)in CIC is often overlooked.Chemotherapeutic drugs cause stress responses and inflammation,which may impact the hypothalamus and disrupt systemic energy and neuroendocrine functions.Understanding hypothalamic roles in regulating these processes can provide insights into CIC's mechanisms and aid in developing novel therapies.

Layer-Valley Hall Effect under Inversion and Time-Reversal Symmetries

Hall effects have been the central paradigms in modern physics,materials science and practical applications,and have led to many exciting breakthroughs,including the discovery of topological Chern invariants and the revolution of metrological resistance standard.To date,the Hall effects have mainly focused on a single degree of freedom(Do F),and most of them require the breaking of spatial-inversion and/or time-reversal symmetries.Here we demonstrate a new type of Hall effect,i.e.,layer-valley Hall effect,based on a combined layer-valley Do F characterized by the product of layer and valley indices.The layer-valley Hall effect has a quantum origin arising from the layer-valley contrasting Berry curvature,and can occur in nonmagnetic centrosymmetric crystals with both spatial-inversion and time-reversal symmetries,transcending the symmetry constraints of single Do F Hall effect based on the constituent layer or valley index.Moreover,the layer-valley Hall effect is highly tunable and shows a W-shaped pattern in response to the out-of-plane electric fields.Additionally,we discuss the potential detection approaches and material-specific design principles of layer-valley Hall effect.Our results demonstrate novel Hall physics and open up exotic paradigms for new research direction of layer-valleytronics that exploits the quantum nature of the coupled layer-valley DoF.

Active phase morphology engineering of NiMo/Al2O3 through La introduction for boosting hydrodesulfurization of 4,6-DMDBT

Herein,we designed and constructed a mesoporous LaAlOx via a solvent evaporation induced self-assembly protocol.The structure and physicochemical property of the corresponding NiMo supported catalyst was analyzed by a set of characterizations,and its catalytic activity was investigated for hydrodesulfurization(HDS)of 4,6-dimethyldibenzothiophene.It has confirmed that the incorporation of La profoundly facilitate the generation of“Type II”NiMoS phase by weakening the interaction of Mo–O–Al leakage and promoting the sulfidation of both Ni and Mo oxides as well as changing the morphology of Ni promoted MoS2 slabs,thereafter boosting the HDS performance substantially.The finding here may contribute to the fundamental understanding of structure-activity in ultra-deep desulfurization and inspire the advancement of highly-efficient HDS catalyst in future.

Temporal transcriptomics reveal the molecular mechanism of dormancy and germination regulated by temperature in Paris polyphylla seed

The mature seed of Paris polyphylla var.chinensis(PPC)is morphophysiologically dormant and develops differently under warm and cold temperatures.To elucidate the molecular mechanisms underlying temperature-dependent regulation of PPC seed dormancy and germination,we investigated the dynamic changes in PPC seed transcript levels under warm and cold temperature stratifications(WS and CS,respectively)by time-resolved RNA sequencing,focusing on genes related to hormone metabolism and signaling and cell wall remodeling(CWRM)and encoding transcription factors/regulators(TFs/TRs).A total of 48765 and 47836 differentially expressed genes(DEGs)were associated with WS and CS,respectively.Of these,17581 and 16652 DEGs,respectively,unique to WS and CS,and 5386 were common to both temperature stratifications across nine analyzed growth stages.The expression of hormone metabolism and signaling,TF/TR,and CWRM genes were closely associated with temperature.More genes related to gibberellin(GA),cytokinin,auxin,and brassinosteroid biosynthetic were upregulated in WS as compared to CS seeds,while genes related to dormancy release and germination were downregulated in WS seeds.However,only GA and abscisic acid levels were altered in PPC seeds breaking morphophysiological dormancy(MPD).Overall,37 TF and five TR families were upregulated whereas 24 TF and 16 TR families were downregulated in WS as compared to CS seeds.Most CWRM families were highly expressed under WS as compared to CS,suggesting that they promote endosperm weakening and embryo growth of WS seeds and facilitate MPD release and germination.A coexpression analysis revealed positive correlations between TFs/TRs and DEGs involved in hormone metabolism and signaling and CWRM.These results provided a basis for investigating the interaction between the endosperm and underdeveloped embryo in the regulation of PPC seed germination and seedling emergence.

Saccades of video head impulse test in Meniere's disease and Vestibular Migraine: What can we learn from?

Background:Saccades are often observed on video head impulse tests(vHIT)in patients with Meniere's Disease(MD)and Vestibular Migraine(VM).However,their saccadic features are not fully described.Objective:This study aims to identify the saccades characteristics of MD and VM.Methods:75 VM patients and 103 definite unilateral MD patients were enrolled in this study.First raw saccades were exported and analyzed.The VM patients were divided into left and right based on their ears,while the MD patients were separated into affected and unaffected subgroups based on their audiograms and symptoms.Results:The MD patients have more saccades on the affected side(85%vs.69%),and saccade velocity is more consistent than the contralateral side(shown by the coefficient of variation).The saccades occurrence rates on both sides are similar in VM(77%vs.76%),as are other saccadic parameters.The MD patients have more significant inter-aural differences than the VM patients,manifested in higher velocity(p-value 0.000),earlier arriving(p-value 0.010),and more time-domain gathered(p-value 0.003)on the affected side.Conclusions:Bilateral saccades are commonly observed in MD and VM.In contrast to MD,saccades on VM are subtle,scattered,and late-arrived.Furthermore,the MD patients showed inconsistent saccadic distribution with more velocity-uniform saccades on the affected side.

Realizing high-performance Na_(3)V_(2)(PO_(4))_(2)O_(2)F cathode for sodium-ion batteries via Nb-doping

Na_(3)V_(2)(PO_(4))_(2)O_(2)F(NVPOF)has received considerable interest as a promising cathode material for sodium-ion batteries because of its high working voltage and good structural/thermal stability.However,the sluggish electrode reaction resulting from its low intrinsic electronic conductivity significantly restricts its electrochemical performance and thus its practical application.Herein,Nb-doped Na_(3)V_(2-x)Nb_(x)(PO_(4))_(2)O_(2)F/graphene(rGO)composites(x=0,0.05,0.1)were prepared using a solvothermal method followed by calcination.Compared to the un-doped NVPOF/r GO,doping V-site with high-valence Nb element(Nb^(5+))(Na_(3)V_(1.95)Nb_(0.05)(PO_(4))_(2)O_(2)F/r GO(NVN05POF/rGO))can result in the generated V4^(+)/V3^(+)mixed-valence,ensuring the lower bandgap and thus the increased intrinsic electronic conductivity.Besides,the expanded lattice space favors the Na^(+)migration.With the structure feature where NVN05POF particles are attached to the rGO sheets,the electrode reaction kinetics is further accelerated owing to the well-constructed electron conductive network.As a consequence,the as-prepared NVN05POF/r GO sample exhibits a high specific capacity of~72 m Ah·g^(-1)at 10C(capacity retention of 65.2%(vs.0.5C))and excellent long-term cycling stability with the capacity fading rate of~0.099%per cycle in 500 cycles at 5C.

Effects of operating conditions on the performance degradation and anode microstructure evolution of anode-supported solid oxide fuel cells

Performance degradation shortens the life of solid oxide fuel cells in practical applications.Revealing the degradation mechanism is crucial for the continuous improvement of cell durability.In this work,the effects of cell operating conditions on the terminal voltage and anode microstructure of a Ni-yttria-stabilized zirconia anode-supported single cell were investigated.The microstructure of the anode active area near the electrolyte was characterized by laser optical microscopy and focused ion beam-scanning electron microscopy.Ni depletion at the anode/electrolyte interface region was observed after 100 h discharge tests.In addition,the long-term stability of the single cell was evaluated at 700℃for 3000 h.After an initial decline,the anode-supported single cell exhibits good durability with a voltage decay rate of 0.72%/kh and an electrode polarization resistance decay rate of 0.17%/kh.The main performance loss of the cell originates from the initial degradation.

A Review of Atmospheric Electricity Research in China from 2019 to 2022

Atmospheric electricity is composed of a series of electric phenomena in the atmosphere.Significant advances in atmospheric electricity research conducted in China have been achieved in recent years.In this paper,the research progress on atmospheric electricity achieved in China during 2019-22 is reviewed focusing on the following aspects:(1)lightning detection and location techniques,(2)thunderstorm electricity,(3)lightning forecasting methods and techniques,(4)physical processes of lightning discharge,(5)high energy emissions and effects of thunderstorms on the upper atmosphere,and(6)the effect of aerosol on lightning.

ROS2 Real-time Performance Optimization and Evaluation

Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.

Evolution and Development Trend Prospect of Metal Milling Equipment

The world is currently undergoing profound changes which have never happened within the past century.Global competition in the technology and industry fields is becoming increasingly fierce.The strategic competition of the major powers further focuses on the manufacturing industry.Developed countries such as the United States,Germany,and Japan have successively put forward strategic plans such as“re-industrialization”and“return of manufacturing industry”,aiming to seize the commanding heights of a new round of global high-end technology competition and expand international market share.Standing at the historic intersection of a new round of scientific and technological revolution and China's accelerated high-quality development,the“14th Five-Year Plan”clearly pointed out that intelligent manufacturing is the main development trend to promote China's manufacturing to the medium-high end of the global value chain.This reflects the importance of advanced manufacturing for national strategic layout.To better grasp the development direction of advanced manufacturing equipment,the development process and current application status of manufacturing equipment are summarized,and thereafter the characteristics of manufacturing equipment in different development stages of the manufacturing industry are analyzed.Finally,the development trend of advanced milling equipment is prospected.

Surface modification of Cu_(2)O with stabilized Cu^(+) for highly efficient and stable CO_(2) electroreduction to C_(2+) chemicals

Copper(Cu)-based materials are known as the most attractive catalysts for electrochemical carbon dioxide reduction reaction(CO_(2)RR),especially the Cu^(+) species(e.g.,Cu_(2)O),which show excellent capability for catalyzing CO_(2) to C_(2+) chemicals because of their unique electronic structure.However,the active Cu^(+) species are prone to be reduced to metallic Cu under an electroreduction environment,thus resulting in fast deactivation and poor selectivity.Here,we developed an advanced surface modification strategy to maintain the active Cu^(+) species via assembling a protective layer of metal-organic framework(copper benzenetricarboxylate,CuBTC) on the surface of Cu_(2)O octahedron(Cu_(2)O@CuBTC).It's encouraging to see that the Cu_(2)O@CuBTC heterostructure outperforms the bare Cu_(2)O octahedron in catalyzing CO_(2) to C_(2+) chemicals and dramatically enhances the ratio of C_(2)H_(4)/CH_(4) products.A systematic study reveals that the introduced CuBTC shell plays a critical role in maintaining the active Cu^(+) species in Cu_(2)O@CuBTC heterostructure under reductive conditions.This work offers a practical strategy for improving the catalytic performance of CO_(2)RR over copper oxides and also establishes a route to maintain the state of valence-sensitive catalysts.

ML-SLD:A message-level stateless design for cloud-native 5G core network

The Internet of Things(IoTs)has become an essential component of the 5th Generation(5G)network and beyond,accelerating the transition to digital society.The increasing signaling traffic generated by billions of IoT devices has placed significant strain on the 5G Core network(5GC)control plane.To address this issue,the 3rd Gener-ation Partnership Project(3GPP)first proposed a Service-Based Architecture(SBA),intending to create a flexible,scalable,and agile cloud-native 5GC.However,considering the coupling of protocol states and functions,there are still many challenges to fully utilize the benefits of the cloud computing and orchestrate the 5GC in a cloud-native manner.We propose a Message-Level StateLess Design(ML-SLD)to provide a cloud-native 5GC from an architectural standpoint in this paper.Firstly,we propose an innovative mechanism for servitization of the N2 interface to maintain the connection between Radio Access Network(RAN)and the 5GC,avoiding interruptions and dropouts of large-scale user data.Furthermore,we propose an On-demand Message Forwarding(OMF)al-gorithm to reduce the impact of cloud fluctuations on the performance of cloud-native 5GC.Finally,we create a prototype that is based on the OpenAirInterface(OAI)5G core network projects,with all Network Functions(NFs)packaged in dockers and deployed in a kubernetes-based cloud environment.Several experiments have been built with UERANSIM and Chaosblade simulation tools.The findings demonstrate the viability and efficiency of our proposed methods.

Effect of Different Loadings on the Performance of Ni2P/Al2O3 Catalysts for Low-Temperature Thioethering and Selective Hydrogenation of Diolefins in Liquefied Petroleum Gas

In this study,different loadings of x%Ni_(2)P/γ-Al_(2)O_(3)(x=6%,9%,12%,15%,18%)catalysts with aluminum oxide(Al_(2)O_(3))as the carrier,nickel chloride(NiCl2)as the nickel(Ni)source,and ammonium hypophosphite(NH_(4)H_(2)PO_(2))as the phosphorus(P)source were prepared by the equal volume impregnation method to investigate the effects of different loadings on the performance of the selective hydrogenation of diolefins and thiol etherification in LPG.The physicochemical properties of the catalysts were characterized by XRD,BET,SEM,TEM,H_(2)-TPR,and XPS,and the catalytic activity of the catalysts was evaluated in a fixed-bed microreactor.The results showed that a change in the loading affected the catalyst crystalline phase structure and size,specific surface area,P coverage,active phase dispersion,and catalytic activity.At 6%,9%,and 12%loadings the catalysts had an Ni phase but there was no obvious Ni_(2)P phase in the nickel phosphide;at 15%loading a single Ni_(2)P phase was obtained,and at 18%loading both Ni_(2)P and Ni1_(2)P_(5) phases appeared.There was a P enrichment on the catalyst surface,and the higher the loading the more P species were enriched on the surface,but some of the P was lost during the catalyst reduction process due to the production of phosphine(PH3)gas.The 15%Ni_(2)P/γ-Al_(2)O_(3) catalyst had the largest Ni/Al ratio and the best dispersion.The Ni_(2)P active phase size was small at about 4.25 nm and Ni_(2)P was uniformly dispersed on the catalyst surface without agglomeration.The 15%Ni_(2)P/γ-Al_(2)O_(3) catalyst had the best catalytic activity at a pressure of 2.0 MPa,a liquid hourly space velocity(LHSV)of 3.0 h-1,and a hydrogen to hydrocarbon ratio of 12.The 1,3-butadiene conversion was 97.45%and the methanethiol removal was 100%at a temperature of 140℃.

Detecting Double JPEG Compressed Color Images via an Improved Approach

Detecting double Joint Photographic Experts Group (JPEG) compressionfor color images is vital in the field of image forensics. In previousresearches, there have been various approaches to detecting double JPEGcompression with different quantization matrices. However, the detectionof double JPEG color images with the same quantization matrix is stilla challenging task. An effective detection approach to extract features isproposed in this paper by combining traditional analysis with ConvolutionalNeural Networks (CNN). On the one hand, the number of nonzero pixels andthe sum of pixel values of color space conversion error are provided with 12-dimensional features through experiments. On the other hand, the roundingerror, the truncation error and the quantization coefficient matrix are used togenerate a total of 128-dimensional features via a specially designed CNN. Insuch aCNN, convolutional layers with fixed kernel of 1×1 and Dropout layersare adopted to prevent overfitting of the model, and an average pooling layeris used to extract local characteristics. In this approach, the Support VectorMachine (SVM) classifier is applied to distinguishwhether a given color imageis primarily or secondarily compressed. The approach is also suitable for thecase when customized needs are considered. The experimental results showthat the proposed approach is more effective than some existing ones whenthe compression quality factors are low.