基于SMA驱动的连续体手术机器人研究综述

连续体机器人是一种能在工作空间中连续弯曲的机器人,因其能在非结构化和狭窄的环境中灵活运动而得到广泛的关注.形状记忆合金(Shape memory alloy,SMA)材料具有良好的形状记忆效应和超弹性,通过施加不同的温度便能够实现对SMA的形状控制,是作为连续体机器人驱动装置的理想材料.基于SMA驱动的连续体机器人有着结构体积小,控制简便,运动范围广,自由度高,易于避障等优点,十分适用于环境复杂的医疗手术环境之中.对SMA的驱动原理和方式进行了分析,介绍了基于SMA驱动的连续体机器入在医疗手术方面的研究现状及建模方法,最后,对发展趋势进行了展望.     

基于光纤光栅技术测力锚杆及保护结构的研究

本文介绍了光纤光栅技术在测力锚杆上的应用,并且基于常用托盘的力学结构,增大了托盘内部的空间、设计了与之相连接的金属保护套筒使之成为一体式结构,从而有效地保护了光纤测力锚杆的主体结构。     

Compliance-based testing method for fatigue crack propagation rates of mixed-mode I–II cracks

Science China Technological Sciences - Mixed-mode I-II crack-based fatigue crack propagation (FCPI-II) usually occurs in engineering structures; however, no theoretical formula or effective...     

Hollow multi-nanochannel carbon nanofiber/MoS2 nanoflower composites as binder-free lithium-ion battery anodes with high capacity and ultralong-cycle life at large current density

The electrode materials with high pseudocapacitance can enhance the rate capability and cycling stabil-ity of lithium-ion storage devices.Herein,we fabricated MoS2 nanoflowers with ultra-large interlayer spacing on N-doped hollow multi-nanochannel carbon nanofibers(F2-MoS2/NHMCFs)as freestanding binder-free anodes for lithium-ion batteries(LIBs).The ultra-large interlayer spacing(0.78～1.11 nm)of MoS2 nanoflowers can not only reduce the internal resistance,but also increase accessible active sur-face area,which ensures the fast Li+intercalation and deintercalation.The NHMCFs with hollow and multi-nanochannel structure can accommodate the large internal strain and volume change during lithi-ation/delithiation process,it is beneficial to improving the cycling stability of LIBs.Benefiting from the above combined structure merits,the F2-MoS2/NHMCFs electrodes deliver a high rate capability 832 mA h g-1 at 10 A g-1 and ultralong cycling stability with 99.29 and 91.60％capacity retention at 10 A g-1 after 1000 and 2000 cycles,respectively.It is one of the largest capacities and best cycling stability at 10 A g-1 ever reported to date,indicating the freestanding F2-MoS2/NHMCFs electrodes have potential applications in high power density LIBs.     

氧化铝纤维束织造过程中摩擦磨损性能研究

运用往复线性摩擦试验方法,搭配自制的摩擦试验夹具,模拟织造过程中氧化铝纤维束-筘齿的摩擦行为,研究加载力、预加张力和摩擦频率对悬空状态下氧化铝纤维束摩擦磨损性能的影响.结果表明:随着加载力的增加,氧化铝纤维束所受摩擦力及长丝断裂根数增加,摩擦系数减小;在预加张力为0.40 N时,氧化铝纤维束所受摩擦力和摩擦系数出现最小值,磨损程度也最小;在摩擦稳定阶段,摩擦频率增加,则氧化铝纤维束所受摩擦力先下降,后略有上升,当摩擦频率增加至5 Hz时,氧化铝纤维束的摩擦系数较1 Hz时增加18.7％,磨损程度也最为严重.     

Effect of laser power density on the electrochromic properties of WO3 films obtained by pulsed laser deposition

Pulsed laser deposition (PLD) was used to prepare tungsten trioxide (WO₃) films on ITO substrates with a varying laser power density of 4.0–5.5 W/cm². XPS indicated that when the laser power density decreased, the peak positions of the W 4f and O 1s orbits shifted slightly to low energy due to the difference in oxygen vacancies. As the laser power density decreased, W⁶⁺ gradually replaced the lattice position of O^2?, increasing oxygen vacancies in the lattice. The transmittance modulated values (ΔT) were over 44% at 830 nm, indicating strong absorption by the WO₃ thin films in the near-infrared ray. The switching time of the WO₃ thin films between bleached states and coloured states decreased as the laser power density increased due to the amorphous structure, morphology, and lower oxygen deficiency at a high power density. The high ΔT and very fast switching time of t_b (1.09 s) and t_c (6.01 s) demonstrated the excellent electrochromic (EC) properties of the WO₃ films prepared by PLD.     

Cyclic thermal shock resistance of h-BN composite ceramics with La2O3–Al2O3–SiO2 addition

The effects of La₂O₃–Al₂O₃–SiO₂ addition on the thermal conductivity, coefficient of thermal expansion (CTE), Young's modulus and cyclic thermal shock resistance of hot-pressed h-BN composite ceramics were investigated. The samples were heated to 1000 °C and then quenched to room temperature with 1–50 cycles, and the residual flexural strength was used to evaluate cyclic thermal shock resistance. h-BN composite ceramics containing 10 vol% La₂O₃–Al₂O₃ and 20 vol% SiO₂ addition exhibited the highest flexural strength, thermal conductivity and relatively low CTE, which were beneficial to the excellent thermal shock resistance. In addition, the viscous amorphous phase of ternary La₂O₃–Al₂O₃–SiO₂ system could accommodate and relax thermal stress contributing to the high thermal shock resistance. Therefore, the residual flexural strength still maintained the value of 234.3 MPa (86.9% of initial strength) after 50 cycles of thermal shock.     

Pattern design and optimization of yarn-dyed plaid fabric using isolation niche genetic algorithm and rough set theory

Under the circumstance of perceptual consumption, it is still challenging to grasp consumer's emotions and demands due to the large search space, diversified preferences, and easy fatigue of consumers. To reduce user fatigue and enlarge search space, a novel method was presented to design and optimize the pattern of yarn-dyed plaid fabric using the isolation niche genetic algorithm and rough set theory. Each pattern was encoded as a chromosome based on the real number code. The population was initialized and evolved using INGA to maintain the diversity. The rough set theory was adopted as the fitness function of isolation niche genetic algorithm to extract the consumer's demands. After multiple evolutions, a large set of practical patterns of the yarn-dyed plaid fabric are obtained. Experiments were carried out by 24 testers of different ages and genders. The results prove that the proposed method based on the isolation niche genetic algorithm and rough set theory is feasible and effective, supplying references to the designer.