摘要：When a curling rock slides on an ice sheet with an initial rotation,a lateral movement occurs,which is known as the curling *** force of friction between the curling rock and the ice sheet changes continually with changes in the environment;thus,the sport of curling requires great skill and *** throwing of the curling rock is a great challenge in robot design and control,and existing curling robots usually adopt a combination scheme of a wheel chassis and gripper that differs significantly from human throwing movements.A hexapod curling robot that imitates human kicking,sliding,pushing,and curling rock rotating was designed and manufactured by our group,and completed a perfect show during the Beijing 2022 Winter Olympics *** switching between the walking and throwing tasks is realized by the robot’s morphology transformation based on leg configuration *** robot’s controlling parameters,which include the kicking velocity v_(k),pushing velocity v_(p),orientation angle θc,and rotation velocityω,are determined by aiming and sliding models according to the estimated equivalent friction coefficientμ_(equ)and ratio e of the front and back *** stable errors between the target and actual stopping points converge to 0.2 and 1.105 m in the simulations and experiments,respectively,and the error shown in the experiments is close to that of a well-trained wheelchair curling *** robot holds promise for helping ice-makers rectify ice sheet friction or assisting in athlete training.

摘要：光催化CO_(2)还原合成太阳能燃料对缓解CO_(2)排放引起的全球变暖和降低化石燃料消耗具有重要意义.然而,目前的光催化剂仍然存在反应动力学缓慢和选择性不理想的问题,特别是对于C_(2+)产物的生成,极大地限制了光催化的工业化进程.过去几十年中,关于太阳能驱动的CO_(2)还原的研究展示出鼓舞人心的结果,包括活性位点的构建.本综述重点介绍了通过构建活性位点制备原子级分散催化剂在光催化CO_(2)还原中的最新进展,包括两个独立的活性位点、成对双活性位点和基于活性位点构型的纳米团簇.此外,详细讨论了CO_(2)在活性位点上的活化机制和表征方法.特别是考虑到实验研究与实际应用之间的差距,整合实验和理论的结果,以实现潜在的结构-活性关系和高目标产物选择性发展.最后,概述了该领域存在的挑战,并展望了活性位点的合理设计和机理研究.

摘要：牙釉质是人体最硬的组织,力学性能优异.牙釉质内部的纳米线-微米簇-有序阵列的多级结构是其具有优异力学性能的关键.通过模仿牙釉质的微结构有望实现人造材料力学性能的突破,但是多级次模仿天然牙釉质的微结构仍是巨大的挑战.本文中,我们制备了由长程有序晶体/非晶羟基磷灰石(HAP)纳米线组成的HAP微米簇,并通过剪切诱导组装将其纺成类牙釉质高性能宏观纤维.该纤维具有高度有序的纳米线-微米簇结构,并且HAP纳米线、HAP微米簇和聚合物基体之间的强界面连接使得该纤维在受力时具有一种多级的能量耗散途径.因此该类牙釉质纤维兼具高强度(196.3 MPa)和高韧性(46.3 MJ m^(-3)),其断裂韧性超过了先前报道的HAP基复合纤维的最大值.这种多级类牙釉质设计策略为高强度和高韧性纤维的开发提供了新的思路,在潜在的工程和生物修复领域具有广阔的应用前景.

摘要：非稠环电子受体(NFREA)具有合成简单和结构修饰灵活的特点,是制备高性能低成本有机太阳电池(OSCs)的理想材料.本工作以不同侧链修饰的二氟苯并三氮唑(ffBTz)作为弱缺电子核(A’),分别设计合成了三种A-D-A’-D-A型NFREA,即ffBTz-BO、ffBTz-EH和ffBTz-C4.其中,ffBTz-EH,由于其合适的侧链长度,在分子结晶度和分子堆积优势取向之间取得了平衡,从而获得了更高的电荷迁移率.并且得益于高效的电荷传输和最合适的相分离形貌,基于ffBTz-EH的OSC获得12.96%的最高能量转换效率,这也是A-D-A’-D-A型NFREA获得的最高效率之一.本研究表明,A’核心上的烷基侧链在调节分子结晶度、活性层形貌和进一步调控器件性能方面起着至关重要的作用,这为未来设计高效低成本的A-D-A’-D-A型非稠环电子受体提供了思路.

摘要：尾座式垂直起降(Vertical takeoff/landing,VTOL)无人机(Unmanned aerial vehicle,UAV)稳定性差,与传统起落架的适配性低。针对上述问题,提出了一种采用自由尾翼技术的新型起落架。该起落架采用串联多级结构,在降低机身高度的同时,保证了巡航状态下尾翼力臂的长度,并通过虚拟中心点力分布技术对动态着陆过程进行调控,简化了控制过程,有利于模式转换过程中的无缝轨迹优化。随后基于猫中心点单点数据集,利用神经网络对起落架控制进行训练,有效提高了起落架自适应起落速度和精度。最后,结合无人机不同模式的参数要求,进行多目标优化和相似性转换,有效提高了尾座式垂直起降无人机的着陆适应性和稳定性。

摘要：轮式发射系统行驶动力学建模与仿真是其动力学性能和试验设计的前提和基础,日益提高的轮式发射系统动态性能迫切需要一种快速高效的大型多体系统动力学计算方法。本文采用多体系统传递矩阵法建立了轮式发射系统的动力学模型,给出了相应的拓扑图和动力学方程,此外,通过快速傅里叶逆变换重构了平行车轮的路面不平度,结合蒙特卡罗方法对随机路面激励下轮式发射系统的动力学特性进行了模拟和讨论分析结果表明,随着路面不平度级别和行驶速度的增加,轮式发射系统的振动加速度幅值越大,在正常车速下,路面激励对车体的影响远大于车速。模态试验和行驶试验验证了动力学建模和仿真的正确性本文可拓展到其他包含概率不确定性的多体系统动力学建模和分析.

摘要：为解决由模型不确定性和外部未知干扰导致的柔性关节系统控制偏差问题,提出一种基于未知状态估计器和跟踪微分器的预设性能反演控制方法。设计一种基于低通滤波器的未知状态估计器,该估计器仅依赖于模型的名义值即可估计集总扰动。构造了一种新的有限时间收敛预设性能函数,并基于该函数设计反演控制器,用于在保证闭环系统所有信号有界的情况下,使关节跟踪误差在约定时间内收敛到预定的任意小区域。为避免反演控制器的微分爆炸问题,设计基于改进Sigmoid函数的跟踪微分器来估计虚拟控制律的微分信号。仿真结果表明,在未建模动态和外部未知干扰的影响下,所提方法能够保证关节跟踪误差在有限时间内收敛到任意给定范围,有效提高了柔性关节的瞬态和稳态性能。

摘要：A model to predict the double leakage and tip leakage leading edge spillage flows was *** model was combined by a TLV trajectory model and a TLV diameter model and formed as a function of compressor one-dimensional design parameters,*** compressor massflow coefficient,Ф and compressor loading coefficient,ψ,and some critical blade geometrical parameters,*** solidity,σ,stagger angle,βS,blade chord length,C,and blade pitch length,*** using this model,the double leakage and tip leakage leading edge spillage flow could be predicted even at the compressor preliminary design *** the leading edge spillage flow usually indicates the inception of spike-type stall,*** compressor is a tip critical design,this model could also be used as a tool to choose the critical design parameters for *** last,some experimental data from literature was used to validate the model and the results proved that the model was reliable.

摘要：这份报纸的目的是为最小的设计一致性图案学习设计效率的问题。为有力量二的直角的数组，最小的设计一致性标准是为设计效率标准的一个好代理人的结果表演由 Cheng，邓和唐(2002 ) 求婚了。

摘要：Biomaterial scaffolds play an important role in maintaining the viability and biological functions of highly metabolic hepatocytes in liver tissue engineering. One of the major challenges involves building a complex microchannel network inside three-dimensional (3D) scaffolds for efficient mass transportation. Here we presented a biomimetic strategy to generate a mi-crochannel network within porous biomaterial scaffolds by mimicking the vascular tree of rat liver. The typical parameters of the blood vessels were incorporated into the biomimetic design of the microchannel network such as branching angle and diameter. Silk fibroin-gelatin scaffolds with biomimetic vascular tree were fabricated by combining micromolding, freeze drying and 3D rolling techniques. The relationship between the micro-channeled design and flow pattern was revealed by a flow experiment, which indicated that the scaffolds with biomimetic vascular tree exhibited unique capability in improving mass transportation inside the 3D scaffold. The 3D scaffolds, preseeded with primary hepatocytes, were dynamically cultured in a bioreactor system. The results confirmed that the pre-designed biomimetic microchannel network facilitated the generation and expansion of hepatocytes.