A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.     

Analysis on First-stage Ignition of n-Heptane at Low Temperatures with a Lumped Skeletal Mechanism

Two-stage ignition exists in the low-temperature combustion process of n-heptane and the first-stage ignition also shows a negative temperature coefficient(NTC) phenomenon. To study key reactions and understand chemical principles affecting the first-stage ignition of n-heptane, a lumped skeletal mechanism with 62 species is obtained based on the detailed NUIGMech1.0 mechanism using the directed relation graph method assisted by sensitivity analysis and isomer lumping. The lumped mechanism shows good performance on ignition delay time under wide conditions. The study revealed that the temperature after the first-stage ignition is higher and a larger amount of fuel is consumed at lower initial temperatures. The temperature at the first-stage ignition is relatively insensitive to the initial temperature. Further sensitivity analysis and reaction path analysis carried out based on the lumped mechanism show that the decomposition of RO₂ to produce alkene and HO₂is the most important reaction to inhibit the first-stage ignitions. The chain branching explosion closely related to the first-stage ignition will be terminated when the rate constant for the RO₂ decomposition is larger than that of the isomerization of RO₂ to produce QOOH. The NTC behavior as well as other characteristics of the first-stage ignition can be rationalized from the competition between these two reactions.     

Resistance switching memory in perovskite oxides

The resistance switching behavior has recently attracted great attentions for its application as resistive random access memories (RRAMs) due to a variety of advantages such as simple structure, high-density, high-speed and low-power. As a leading storage media, the transition metal perovskite oxide owns the strong correlation of electrons and the stable crystal structure, which brings out multifunctionality such as ferroelectric, multiferroic, superconductor, and colossal magnetoresistance/electroresistance effect, etc. The existence of rich electronic phases, metal–insulator transition and the nonstoichiometric oxygen in perovskite oxide provides good platforms to insight into the resistive switching mechanisms.     

一种提高射频电缆焊接质量的工艺方法

射频连接器与射频电缆被广泛应用于军民品的通信设备中,其关键工序射频电缆芯线与射频连接器插针的连接常采用手钳式阻焊工具。由于射频电缆较细,手钳式阻焊工具在阻焊操作时,要求电装工双手不能抖动,否则易产生废品。通过对手钳式阻焊工具进行技术改进,重新设计了一种预压紧方式的阻焊装置,并通过试验确定了电阻焊接头的结构形式和尺寸,提高了手工阻焊成品率和生产效率,降低了对电装工的技能要求。     

Crosstalk noise modeling of multiwall carbon nanotube (MWCNT) interconnects using finite-difference time-domain (FDTD) technique

This paper presents an accurate and efficient model for the transient analysis of multiwall carbon nanotubes (MWCNT) using finite-difference time-domain (FDTD) method. The proposed model can be essentially used to analyze the functional and dynamic crosstalk effects of coupled-two MWCNT interconnect lines. Using the proposed model the voltage and current can be accurately estimated at any point on the interconnect line and furthermore, the model can be extended to coupled-n interconnect lines with a low computational cost. Crosstalk induced propagation delay, peak voltage, and its timing instance are measured using the proposed model and validated by comparing it to the HSPICE simulations. Over a random number of test cases it is observed that the average error in estimating the noise peak voltage on a victim line is less than 1%. The proposed model is extremely useful for accurate estimation of crosstalk induced performance parameters of MWCNT interconnects.     

Au-MgB2-Au纳米结点的负微分电阻效应

运用密度泛函理论结合非平衡格林函数的方法对MgB2直线原子链与两半无限Au（100）电极构成纳米结点的电子输运特性进行了第一性原理计算．在模拟Au-MgB2-Au纳米结点的拉伸过程中,计算了结点在不同距离下的结合能与电导．结果发现结点的Au-B键长为1．90A,B-Mg键长为2．22A时,结合能最大,结构最稳定,此时结点平衡电导为0．51G0（G0=2e^0／h）．通过计算投影态密度发现电子通过结点时主要是通过B、Mg原子的px和py电子轨道形成的π键进行传输的．在-1．5～1．5V的电压范围内,结点的电流-电压近似为线性关系,表现出类似金属的导电性质,而当正负电压高于15V时,电流对称性逐渐减小,即存在负微分电阻效应,从不同电压下透射谱的变化对负微分电阻现象进行了分析与讨论．     

Zn(NCN)单轴的负热膨胀性及机理研究

负热膨胀(NTE)是一种反常的物理现象, 已在合金和框架结构化合物等材料中被观察到, 但NTE材料的种类仍然有限. 本文合成了一种单轴NTE材料Zn(NCN), 该材料在c轴方向及在100~475 K下的热膨胀系数为-3.35×10^?6 K^?1, 而a轴和b轴方向则呈低热膨胀性, 体积具有低的热膨胀系数[6.13×10^?6 K^?1(100~475 K)]. 通过同步辐射X射线衍射、 扩展X射线吸收精细结构和拉曼光谱等方法, 研究了Zn(NCN)的NTE机理. 结果表明, Zn—N键具有明显的横向振动, 一些低频振动模Grüneisen参数为负值. 直接的实验证据表明, N=C=N的横向振动以及准刚性ZnN₄四面体的耦合旋转和扭摆导致了c轴方向的NTE.     

冰冻人血清中尿酸标准物质复制的定值EI北大核心CSCD

为了满足该标准物质的需求,进行了第二次尿酸血清标准物质的复制。针对复制的尿酸血清标准物质,基于单四极杆质谱的液相色谱-同位素稀释质谱法(LC-IDMS),用乙腈沉淀法去除蛋白质,BEH C18色谱柱和电喷雾离子源负离子模式(ESI^(-)),同位素稀释的单点校准法进行定值、均匀性检验、稳定性检验以及不确定度评定等研究。此定值方法经过CCQM-K109(血清中尿酸分析)国际关键比对进行验证。复制的2种不同浓度水平尿酸(肾病患者和正常人)血清标准物质的定值结果分别为(73.5±1.3)μg/g,(47.5±1.1)μg/g,其均匀性和稳定性评估结果良好。     

The enormity of the zinc deficiency problem and available solutions; an overview

The societal cost of micronutrient deficiency (MND) or the “hidden hunger” is in millions of dollars/year, reducing the GDP of some countries by as much as 11%. Zn is an important micronutrient for both plants and animals. An estimated 17% of the world population, or around 1.1 billion people, are at the risk of zinc (Zn) deficiency. The deficiency has been related to adverse pregnancy outcomes, stunted growth, premature deaths, immune system dysfunctions, neuro-behavioral disorders, and recently with the failure to recover from COVID-19. These health risks associated with Zn deficiency have compelled FAO and WHO to recommend Zn fortification of diet. Correcting Zn deficiency is a challenge due to several reasons. Close to half of the agricultural soils are Zn deficient, and chemical Zn fertilizers are costly and ineffective. Developing Zn-rich crops through plant breeding and genetic engineering is challenging. Zn-dense diet is costly and cannot be implemented in the low-income region most affected by Zn deficiency. Lack of consensus among regulatory bodies on defining and diagnosing Zn deficiency in plants and Humans. Awareness and other sociocultural issues. Among the most important available solutions are zinc biofortification of the cereal crops, use of zinc biofertilizers, development of Zn-efficient crops with reduced phytate content. The use of Zn supplements, dietary modification, and diversification, especially with fish, are proposed as the most accessible and affordable solutions. Awareness programs in areas suffering the most from Zn deficiency are required. Despite the suggestions from FAO and WHO, global efforts to combat Zn deficiency matching those for combating diseases like HIV are not in place. Coordinated efforts of the international community, especially policy-makers, agricultural scientists, dieticians, physicians, and others, are required to address the issue of hidden hunger.