摘要：This paper explores the design of leg morphology in a six-legged *** by nature,where animals have different leg morphology,we examined how the difference in leg morphology influences behaviors of the *** this end,a systematic search was conducted by scanning over the parameter space consisting of default angles of leg joints of the six-legged robot,with two main objectives:to maximize the kinematic flexibility and walking performance of the *** show that(1)to have a high kinematic flexibility with both the torso and swing legs,the femur segment should tilt downwards by 5°-10°and the tibia segment should be vertically downwards or with a slight inward tilt;(2)to achieve relatively energy-efficient and steady walking,the tibia segment should be approximately vertically downwards,with the femur segment tilting upwards to lower the torso *** results of this study suggest that behaviors of legged robots can be passively enhanced by careful mechanical design choices,thereby leading to more competent legged machines.

摘要：非共价相互作用包括氢键、静电相互作用、疏水效应、π共轭效应和范德华力等。虽然这些相互作用比共价键弱,但在我们的日常生活中却无处不在,时时刻刻都在大显身手。本文通过生活对话的形式,简要介绍了生活中以非共价相互作用主导的现象和用品,希望通过生活实例加深读者对超分子化学领域相关知识的认识和理解,让公众感受超分子化学中奇妙的分子艺术。

摘要：Near infrared(NIR) absorbing and emitting dyes are sought after for their potentials in bioimaging and theranostic applications. They are typically not as stable as dyes absorbing and emitting in the visible spectral range, as the result of a reduced HOMO-LUMO band-gap. Also, they are not as efficient fluorescence emitters due to accelerated internal conversion kinetics. In addition, their large conjugative backbone render them high tendency to form aggregate and low aqueous solubility. In this tutorial, we have described a four-step approach for rational design of organic dyes with an overall high-performance to meet the rigorous requirements of biological applications. Also, some background regarding "NIR" is provided along with some recent breakthroughs of the field.

摘要：The pulsed-spray fluid-bed granulation (PSFBG) process was investigated and optimized using definitive scree ning design, a recently proposed new class of three-level desig n of experiment method. Such a design enabled quadratic models to be established that described the effect of six in put process parameters - inlet air temperature, inlet air humidity, binder spray rate, atomization pressure, pulse period, and pulse width - on the granule quality in a PSFBG process. Mathematical models of the mean particle size, relative size distribution width, production yield, and porosity were developed to quantify the relationships between the in flue ncing factors and critical quality attributes. On the basis of con strai nts on the desired granule properties, a design space for PSFBG was determined and ranges of the operating parameters were defined. An acceptable degree of prediction was confirmed by validation experiments, demonstrating the reliability and effectiveness of using definitive screening design to study the PSFBG process. This method can accelerate screening and optimization of this process within a large multidimensional design space.

摘要：通过引入—OH、—NH2和—SO_(3)H极性官能团,设计了具有高比表面积、亚胺键连接的二维三聚茚酮基共价有机骨架(truxenone-based covalent organic frameworks,TRO-COFs),并通过巨正则蒙特卡洛(giant canonical Monte Carlo,GCMC)模拟和密度泛函理论(density functional theory,DFT)探究了298 K和0~1.0×10^(5)Pa条件下极性官能团对TRO-COFs的CO_(2)捕获性能的影响。结合能和内聚能的分析表明官能团引入后结构仍保持较高的稳定性。极性官能团的引入显著增强了TRO-COFs的CO_(2)吸附性能。CO_(2)吸附量大小顺序为TRO-COF-SO_(3)H>TRO-COF-NH2>TRO-COF-OH>TRO-COF-H。在298 K和1.0×10^(5)Pa条件下,TRO-COF-SO_(3)H表现出8.02 mmol·g^(-1)的CO_(2)吸附量及CO_(2)优于N_(2)和CH_(4)的选择性(37和26)。同时,通过径向分布函数和气体吸附密度分布也进一步说明了不同极性官能团对CO_(2)捕获与分离性能影响的差异。最后,从吸附热、范德瓦耳斯力和库仑相互作用等多个角度详细阐明了极性官能团的作用机制。

摘要：二苯丙氨酸二肽是导致阿尔兹海默症的β-淀粉样蛋白的关键识别序列。因其结构简单、组装性能优异,日益成为分子组装领域构筑功能材料的"明星"基元。目前,围绕二苯丙氨酸二肽及其衍生物的可控组装,人们已经开展了大量的研究工作,包括分子设计、结构调控和功能应用等。本课题组利用分子组装技术,通过调节分子间相互作用,实现了二苯丙氨酸二肽组装体的可控制备,并探索了它们的光学性质以及潜在应用。本文归纳分析了二苯丙氨酸二肽组装体的光功能化方法,详细介绍了这些短肽基光功能材料在光波导、光学成像、光动力治疗、光学制造和光催化等领域的应用,并初步提出了今后可能的发展方向。

摘要：提出一种通过三维(3D)点云处理识别纵向撕裂的方法,即通过双目线激光立体视觉相机获取皮带表面的空间点数据,在这些数据中,由裂痕和划痕引起的疑似点被提取出来;随后采用聚类和判别机制来区分撕裂和划痕,并仅以撕裂信息作为报警标准;最后使用主成分分析(PCA)方法可以在三维空间中有效地表征裂痕的方向和最大宽度。应用该方法可以为纵裂等类似缺陷的识别场景提供更有效、更合适的解决方案。

摘要：针对自动驾驶场景下交通目标检测算法存在的误检及漏检的问题,提出一种基于改进YOLOv8s模型的复杂道路交通目标检测算法。设计一种轻量级的C2f⁃EMSCP模块改进YOLOv8s的骨干网络,实现网络的参数量和计算量的降低;在Backbone和Neck部分添加EMA注意力模块,有效地捕捉了全局的通道依赖性与局部空间特征,实现在通道和空间维度上的全面特征抽取;针对密集车流下小尺寸车辆检测效果不佳的问题,添加小目标检测头,更好地捕获小尺寸车辆的特征和上下文信息;使用可自适应调整权重系数的Wise⁃SIoU作为改进模型的损失函数,提升了边界框的回归性能和检测的鲁棒性。在KITTI数据集上进行实验,P、R和mAP@0.5分别提高了0.4%、2.1%和3.7%。文中的改进方法在交通监控系统中能够达到较好的检测精度和速度,有效改善了复杂交通场景下小目标车辆检测效果不佳的问题。

摘要：Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.

摘要：Acoustic echo cancellation based on sub-band filters has the characteristics of rapid con- vergence and small computational complexity. This letter analyses two different sub-band filters design methods which used in acoustic echo cancellation fields and compares them with each other. Fur- thermore, the sub-band filter construction have been optimized, which lead to the improvement of the computational efficiency. At the same time, this letter combines ear auditory feature with acoustic echo cancellation, thus improves the original algorithms by importing a new objective function creatively. At the last part, a simulation environment has been designed and a computer simulation has been carried out. The final results indicate that this method can meet the requirements of actual projects, and some improvements are demonstrated on performance and calculation quantity compared to original algo- rithms.