Massive efforts have been concentrated on the advance of eminent near-infrared(NIR) photothermal materials(PTMs) in the NIR-Ⅱ window(1000–1700 nm), especially organic PTMs because of their intrinsic biological safet...Massive efforts have been concentrated on the advance of eminent near-infrared(NIR) photothermal materials(PTMs) in the NIR-Ⅱ window(1000–1700 nm), especially organic PTMs because of their intrinsic biological safety compared with inorganic PTMs. However, so far, only a few NIR-Ⅱresponsive organic PTMs was explored, and their photothermal conversion efficiencies(PCEs) still remain relatively low. Herein, donor–acceptor conjugated diradical polymers with open-shell characteristics are explored for synergistically photothermal immunotherapy of metastatic tumors in the NIR-Ⅱ window. By employing side-chain regulation, the conjugated diradical polymer TTB-2 with obvious NIR-Ⅱ absorption was developed, and its nanoparticles realize a record-breaking PCE of 87.7% upon NIR-Ⅱ light illustration. In vitro and in vivo experiments demonstrate that TTB-2 nanoparticles show good tumor photoablation with navigation of photoacoustic imaging in the NIR-Ⅱ window, without any side-effect. Moreover, by combining with PD-1 antibody,the pulmonary metastasis of breast cancer is high-effectively prevented by the efficient photo-immunity effect. Thus, this study explores superior PTMs for cancer metastasis theranostics in the NIR-Ⅱ window, offering a new horizon in developing radical-characteristic NIR-Ⅱ photothermal materials.展开更多
The infamous type Ⅳ failure within the fine-grained heat-affected zone (FGHAZ) in G115 steel weldments seriously threatens the safe operation of ultra-supercritical (USC) power plants.In this work,the traditional the...The infamous type Ⅳ failure within the fine-grained heat-affected zone (FGHAZ) in G115 steel weldments seriously threatens the safe operation of ultra-supercritical (USC) power plants.In this work,the traditional thermo-mechanical treatment was modified via the replacement of hot-rolling with cold rolling,i.e.,normalizing,cold rolling,and tempering (NCT),which was developed to improve the creep strength of the FGHAZ in G115 steel weldments.The NCT treatment effectively promoted the dissolution of preformed M_(23)C_(6)particles and relieved the boundary segregation of C and Cr during welding thermal cycling,which accelerated the dispersed reprecipitation of M_(23)C_(6) particles within the fresh reaustenitized grains during post-weld heat treatment.In addition,the precipitation of Cu-rich phases and MX particles was promoted evidently due to the deformation-induced dislocations.As a result,the interacting actions between precipitates,dislocations,and boundaries during creep were reinforced considerably.Following this strategy,the creep rupture life of the FGHAZ in G115 steel weldments can be prolonged by 18.6%,which can further push the application of G115 steel in USC power plants.展开更多
Seawater splitting into hydrogen,a promising technology,is seriously limited by the durability and tolerance of electrocatalysts for chlorine ions in seawater at large current densities due to chloride oxidation and c...Seawater splitting into hydrogen,a promising technology,is seriously limited by the durability and tolerance of electrocatalysts for chlorine ions in seawater at large current densities due to chloride oxidation and corrosion.Here,we present a robust and weak-nucleophilicity nickel-iron hydroxide electrocatalyst with excellent selectivity for oxygen evolution and an inert response for chlorine ion oxidation which are key and highly desired for efficient seawater electrolysis.Such a weak-nucleophilicity electrocatalyst can well match with strong-nucleophilicity OH-compared with the weak-nucleophilicity Cl^(-),resultantly,the oxidation of OH-in electrolyte can be more easily achieved relative to chlorine ion oxidation,confirmed by ethylenediaminetetraacetic acid disodium probing test.Further,no strongly corrosive hypochlorite is produced when the operating voltage reaches about 2.1 V vs.RHE,a potential that is far beyond the thermodynamic potential of chlorine ion oxidatio n.This concept and approach to reasonably designing weaknucleophilicity electrocatalysts that can greatly avoid chlorine ion oxidation under alkaline seawater environments can push forward the seawater electrolysis technology and also accelerate the development of green hydrogen technique.展开更多
In recent years,significant progress has been made in both three-dimensional(3D)printing technologies and the exploration of silk as an ink to produce biocompatible constructs.Combined with the unlimited design potent...In recent years,significant progress has been made in both three-dimensional(3D)printing technologies and the exploration of silk as an ink to produce biocompatible constructs.Combined with the unlimited design potential of 3D printing,silk can be processed into a broad range of functional materials and devices for various biomedical applications.The ability of silk to be processed into various materials,including solutions,hydrogels,particles,microspheres,and fibers,makes it an excellent candidate for adaptation to different 3D printing techniques.This review presents a didactic overview of the 3D printing of silk-based materials,major categories of printing techniques,and their prototyping mechanisms and structural features.In addition,we provide a roadmap for researchers aiming to incorporate silk printing into their own work by summarizing promising strategies from both technical and material aspects,to relate state-of-the-art silk-based material processing with fast-developing 3D printing technologies.Thus,our focus is on elucidating the techniques and strategies that advance the development of precise assembly strategies for silk-based materials.Precise printing(including high printing resolution,complex structure realization,and printing fidelity)is a prerequisite for the digital design capability of 3D printing technology and would definitely broaden the application era of silk,such as complex biomimetic tissue structures,vasculatures,and transdermal microneedles.展开更多
Different chemical compositions of soil organic carbon(SOC)affect its persistence and whether it signifi-cantly differs between natural forests and plantations remains unclear.By synthesizing 234 observations of SOC c...Different chemical compositions of soil organic carbon(SOC)affect its persistence and whether it signifi-cantly differs between natural forests and plantations remains unclear.By synthesizing 234 observations of SOC chemical compositions,we evaluated global patterns of concentra-tion,individual chemical composition(alkyl C,O-alkyl C,aromatic C,and carbonyl C),and their distribution even-ness.Our results indicate a notably higher SOC,a markedly larger proportion of recalcitrant alkyl C,and lower easily decomposed carbonyl C proportion in natural forests.How-ever,SOC chemical compositions were appreciably more evenly distributed in plantations.Based on the assumed con-ceptual index of SOC chemical composition evenness,we deduced that,compared to natural forests,plantations may have higher possible resistance to SOC decomposition under disturbances.In tropical regions,SOC levels,recalcitrant SOC chemical composition,and their distributed evenness were significantly higher in natural forests,indicating that SOC has higher chemical stability and possible resistance to decomposition.Climate factors had minor effects on alkyl C in forests globally,while they notably affected SOC chemi-cal composition in tropical forests.This could contribute to the differences in chemical compositions and their distrib-uted evenness between plantations and natural stands.展开更多
Bromine has attracted significant attention as a cathode material for aqueous batteries due to its high reduction potential of 1.05 V(Br_(3)^(-)+2e~-■3Br~-),impressive theoretical specific capacity of 223 mA h g^(-1)...Bromine has attracted significant attention as a cathode material for aqueous batteries due to its high reduction potential of 1.05 V(Br_(3)^(-)+2e~-■3Br~-),impressive theoretical specific capacity of 223 mA h g^(-1),and rapid reaction kinetics in the electrolyte.However,searching for compatible anode materials to match with bromine has posed a challenge due to its highly corrosive nature.In this study,we developed oxygen-deficient MoO_(3) with TiO_(2) coating(referred to as MoO_(3-x)@TiO_(2))as an anode material to pair with a bromine cathode in static full batteries.The oxygen deficiency contributes to enhanced electronic and protonic diffusion within the MoO_(3-x)lattice,while the TiO_(2) coating mitigates structural dissolution and proton trapping during cycling.The MoO_(3-x)@TiO_(2) demonstrates fast charge storage kinetics and excellent resistance to bromine corrosion.The impressive compatibility between MoO_(3-x)@TiO_(2) and bromine enables the construction of membrane-less full batteries with exceptional rate capability and cyclic stability.The MoO_(3-x)@TiO_(2)-bromine battery achieves an energy density of70.8 W h kg^(-1)at a power density of 328.1 W kg^(-1),showcasing an impressive long-term cyclic life of 20,000 cycles.Our study provides valuable insights for the development of high-performance aqueous secondary batteries.展开更多
An in-house code,CONTHAC-3D,was developed to calculate and analyze thermal-hydraulic phenomena in containments during severe accidents.CONTHAC-3D is a three-dimensional computational fluid dynamics code that can be ap...An in-house code,CONTHAC-3D,was developed to calculate and analyze thermal-hydraulic phenomena in containments during severe accidents.CONTHAC-3D is a three-dimensional computational fluid dynamics code that can be applied to predict gas flow,diffusion,and steam condensation in a containment during a severe hypothetical accident,as well as to obtain an estimate of the local hydrogen concentration in various zones of the containment.CONTHAC-3D was developed using multiple models to simulate the features of the proprietary systems and equipment of HPR1000 and ACP100,such as the passive cooling system,passive autocatalytic recombiners and the passive air cooling system.To validate CONTHAC-3D,a GX6 test was performed at the Battelle Model Containment facility.The hydrogen concentration and temperature monitored by the GX6 test are accurately predicted by CONTHAC-3D.Subsequently,the hydrogen distribution in the HPR1000 containment during a severe accident was studied.The results show that the hydrogen removal rates calculated using CONTHAC-3D for different types of PARs agree well with the theoretical values,with an error of less than 1%.As the accident progresses,the hydrogen concentration in the lower compartment becomes higher than that in the large space,which implies that the lower compartment has a higher hydrogen risk than the dome and large space at a later stage of the accident.The amount of hydrogen removed by the PARs placed on the floor of the compartment is small;therefore,raising the installation height of these recombiners appropriately is recommended.However,we do not recommend installing all autocatalytic recombiners at high positions.The study findings in regard to the hydrogen distribution in the HPR1000 containment indicate that CONTHAC-3D can be applied to the study of hydrogen risk containment.展开更多
Biodiversity experiments have shown that soil organic carbon(SOC)is not only a function of plant diversity,but is also closely related to the nitrogen(N)-fixing plants.However,the effect of N-fixing trees on SOC chemi...Biodiversity experiments have shown that soil organic carbon(SOC)is not only a function of plant diversity,but is also closely related to the nitrogen(N)-fixing plants.However,the effect of N-fixing trees on SOC chemical stability is still little known,especially with the compounding effects of tree species diversity.An experimental field manipulation was established in subtropical plantations of southern China to explore the impacts of tree species richness(i.e.,one,two,four and six tree species)and with/without N-fixing trees on SOC chemical stability,as indicated by the ratio of easily oxidized organic carbon to SOC(EOC/SOC).Plant-derived C components in terms of hydrolysable plant lipids and lignin phenols were isolated from soils for evaluating their relative contributions to SOC chemical stability.The results showed that N-fixing tree species rather than tree species richness had a significant effect on EOC/SOC.Hydrolysable plant lipids and lignin phenols were negatively correlated with EOC/SOC,while hydrolysable plant lipids contributed more to EOC/SOC than lignin phenols,especially in the occurrence of N-fixing trees.The presence of N-fixing tree species led to an increase in soil N availability and a decrease in fungal abundance,promoting the selective retention of certain key components of hydrolysable plant lipids,thus enhancing SOC chemical stability.These findings underpin the crucial role of N-fixing trees in shaping SOC chemical stability,and therefore,preferential selection of N-fixing tree species in mixed plantations is an appropriate silvicultural strategy to improve SOC chemical stability in subtropical plantations.展开更多
Interest has recently emerged in potential applications of(n,2n)reactions of unstable nuclei.Challenges have arisen because of the scarcity of experimental cross-sectional data.This study aims to predict the(n,2n)reac...Interest has recently emerged in potential applications of(n,2n)reactions of unstable nuclei.Challenges have arisen because of the scarcity of experimental cross-sectional data.This study aims to predict the(n,2n)reaction cross-section of long-lived fission products based on a tensor model.This tensor model is an extension of the collaborative filtering algorithm used for nuclear data.It is based on tensor decomposition and completion to predict(n,2n)reaction cross-sections;the corresponding EXFOR data are applied as training data.The reliability of the proposed tensor model was validated by comparing the calculations with data from EXFOR and different databases.Predictions were made for long-lived fission products such as^(60)Co,^(79)Se,^(93)Zr,^(107)P,^(126)Sn,and^(137)Cs,which provide a predicted energy range to effectively transmute long-lived fission products into shorter-lived or less radioactive isotopes.This method could be a powerful tool for completing(n,2n)reaction cross-sectional data and shows the possibility of selective transmutation of nuclear waste.展开更多
Experimental scratch tests and first-principles calculations were used to investigate the adhesion property of AlCrNbSiTi high-entropy alloy(HEA)coatings on zirconium substrates.AlCrNbSiTi HEA and Cr coatings were dep...Experimental scratch tests and first-principles calculations were used to investigate the adhesion property of AlCrNbSiTi high-entropy alloy(HEA)coatings on zirconium substrates.AlCrNbSiTi HEA and Cr coatings were deposited on Zr alloy substrates using multi-arc ion plating technology,and scratch tests were subsequently conducted to estimate the adhesion property of the coatings.The results indicated that Cr coatings had better adhesion strength than HEA coatings,and the HEA coatings showed brittleness.The special quasi-random structure approach was used to build HEA models,and Cr/Zr and HEA/Zr interface models were employed to investigate the cohesion between the coatings and Zr substrate using first-principles calculations.The calculated interface energies showed that the cohesion between the Cr coating and the Zr substrate was stronger than that of the HEA coating with Zr.In contrary to Al or Si in the HEA coating,Cr,Nb,and Ti atoms binded strongly with Zr substrate.Based on the calculated elastic constants,it was found that low Cr and high Al content decreased the mechanical performances of HEA coatings.Finally,this study demonstrated the utilization of a combined approach involving first-principles calculations and experimental studies for future HEA coating development.展开更多
Sodium-ion batteries(SIBs) and hybrid capacitors(SIHCs) have garnered significant attention in energy storage due to their inherent advantages,including high energy density,cost-effectiveness,and enhanced safety.Howev...Sodium-ion batteries(SIBs) and hybrid capacitors(SIHCs) have garnered significant attention in energy storage due to their inherent advantages,including high energy density,cost-effectiveness,and enhanced safety.However,developing high-performance anode materials to improve sodium storage performa nce still remains a major challenge.Here,a facile one-pot method has been developed to fabricate a hybrid of MoSeTe nanosheets implanted within the N,F co-doped honeycomb carbon skeleton(MoSeTe/N,F@C).Experimental results demonstrate that the incorporation of large-sized Te atoms into MoSeTe nanosheets enlarges the layer spacing and creates abundant anion vacancies,which effectively facilitate the insertion/extraction of Na^(+) and provide numerous ion adsorption sites for rapid surface capacitive behavior.Additionally,the heteroatoms N,F co-doped honeycomb carbon skeleton with a highly conductive network can restrain the volume expansion and boost reaction kinetics within the electrode.As anticipated,the MoSeTe/N,F@C anode exhibits high reversible capacities along with exceptional cycle stability.When coupled with Na_(3)V_(2)(PO_(4))_(3)@C(NVPF@C) to form SIB full cells,the anode delivers a reversible specific capacity of 126 mA h g^(-1) after 100 cycles at 0.1 A g^(-1).Furthermore,when combined with AC to form SIHC full cells,the anode demonstrates excellent cycling stability with a reversible specific capacity of50 mA h g^(-1) keeping over 3700 cycles at 1.0 A g^(-1).In situ XRD,ex situ TEM characterization,and theoretical calculations(DFT) further confirm the reversibility of sodium storage in MoSeTe/N,F@C anode materials during electrochemical reactions,highlighting their potential for widespread practical application.This work provides new insights into the promising utilization of advanced transition metal dichalcogenides as anode materials for Na^(+)-based energy storage devices.展开更多
Structural Health Monitoring(SHM)systems have become a crucial tool for the operational management of long tunnels.For immersed tunnels exposed to both traffic loads and the effects of the marine environment,efficient...Structural Health Monitoring(SHM)systems have become a crucial tool for the operational management of long tunnels.For immersed tunnels exposed to both traffic loads and the effects of the marine environment,efficiently identifying abnormal conditions from the extensive unannotated SHM data presents a significant challenge.This study proposed amodel-based approach for anomaly detection and conducted validation and comparative analysis of two distinct temporal predictive models using SHM data from a real immersed tunnel.Firstly,a dynamic predictive model-based anomaly detectionmethod is proposed,which utilizes a rolling time window for modeling to achieve dynamic prediction.Leveraging the assumption of temporal data similarity,an interval prediction value deviation was employed to determine the abnormality of the data.Subsequently,dynamic predictive models were constructed based on the Autoregressive Integrated Moving Average(ARIMA)and Long Short-Term Memory(LSTM)models.The hyperparameters of these models were optimized and selected using monitoring data from the immersed tunnel,yielding viable static and dynamic predictive models.Finally,the models were applied within the same segment of SHM data,to validate the effectiveness of the anomaly detection approach based on dynamic predictive modeling.A detailed comparative analysis discusses the discrepancies in temporal anomaly detection between the ARIMA-and LSTM-based models.The results demonstrated that the dynamic predictive modelbased anomaly detection approach was effective for dealing with unannotated SHM data.In a comparison between ARIMA and LSTM,it was found that ARIMA demonstrated higher modeling efficiency,rendering it suitable for short-term predictions.In contrast,the LSTM model exhibited greater capacity to capture long-term performance trends and enhanced early warning capabilities,thereby resulting in superior overall performance.展开更多
To ensure a safe and stable CO_(2)storage,pressure responses at an observation well are expected to be an important and useful field monitoring item to estimate the CO_(2)storage behaviors and the aquifer parameters d...To ensure a safe and stable CO_(2)storage,pressure responses at an observation well are expected to be an important and useful field monitoring item to estimate the CO_(2)storage behaviors and the aquifer parameters during and after injecting CO_(2),because it can detect whether the injected CO_(2)leaks to the ground surface or the bottom of the sea.In this study,pressure responses were simulated to present design factors such as well location and pressure transmitter of the observation well.Numerical simulations on the pressure response and the time-delay from pressure build-up after CO_(2)injection were conducted by considering aquifer parameters and distance from the CO_(2)injection well to an observation well.The measurement resolution of a pressure transmitter installed in the observation well was presented based on numerical simulation results of the pressure response against pressure build-up at the injection well and CO_(2)plume front propagations.Furthermore,the pressure response at an observation well was estimated by comparing the numerical simulation results with the curve of CO_(2)saturation and relative permeability.It was also suggested that the analytical solution can be used for the analysis of the pressure response tendency using pressure build-up and dimensionless parameters of hydraulic diffusivity.Thus,a criterion was established for selecting a pressure transducer installed at an observation well to monitor the pressure responses with sufficient accuracy and resolution,considering the distance from the injection well and the pressure build-up at the injection well,for future carbon capture and storage(CCS)projects.展开更多
Carbon peaking and carbon neutralization trigger a technical revolution in energy&environment related fields.Development of new technologies for green energy production and storage,industrial energy saving and eff...Carbon peaking and carbon neutralization trigger a technical revolution in energy&environment related fields.Development of new technologies for green energy production and storage,industrial energy saving and efficiency reinforcement,carbon capture,and pollutant gas treatment is in highly imperious demand.The emerging porous framework materials such as metal–organic frameworks(MOFs),covalent organic frameworks(COFs)and hydrogen-bonded organic frameworks(HOFs),owing to the permanent porosity,tremendous specific surface area,designable structure and customizable functionality,have shown great potential in major energy-consuming industrial processes,including sustainable energy gas catalytic conversion,energy-efficient industrial gas separation and storage.Herein,this manuscript presents a systematic review of porous framework materials for global and comprehensive energy&environment related applications,from a macroscopic and application perspective.展开更多
The occurrence of earthquakes is closely related to the crustal geotectonic movement and the migration of mass,which consequently cause changes in gravity.The Gravity Recovery And Climate Experiment(GRACE)satellite da...The occurrence of earthquakes is closely related to the crustal geotectonic movement and the migration of mass,which consequently cause changes in gravity.The Gravity Recovery And Climate Experiment(GRACE)satellite data can be used to detect gravity changes associated with large earthquakes.However,previous GRACE satellite-based seismic gravity-change studies have focused more on coseismic gravity changes than on preseismic gravity changes.Moreover,the noise of the north–south stripe in GRACE data is difficult to eliminate,thereby resulting in the loss of some gravity information related to tectonic activities.To explore the preseismic gravity anomalies in a more refined way,we first propose a method of characterizing gravity variation based on the maximum shear strain of gravity,inspired by the concept of crustal strain.The offset index method is then adopted to describe the gravity anomalies,and the spatial and temporal characteristics of gravity anomalies before earthquakes are analyzed at the scales of the fault zone and plate,respectively.In this work,experiments are carried out on the Tibetan Plateau and its surrounding areas,and the following findings are obtained:First,from the observation scale of the fault zone,we detect the occurrence of large-area gravity anomalies near the epicenter,oftentimes about half a year before an earthquake,and these anomalies were distributed along the fault zone.Second,from the observation scale of the plate,we find that when an earthquake occurred on the Tibetan Plateau,a large number of gravity anomalies also occurred at the boundary of the Tibetan Plateau and the Indian Plate.Moreover,the aforementioned experiments confirm that the proposed method can successfully capture the preseismic gravity anomalies of large earthquakes with a magnitude of less than 8,which suggests a new idea for the application of gravity satellite data to earthquake research.展开更多
The electric submersible pump(ESP) is a crucial apparatus utilized for lifting in the oil extraction process.Its lifting capacity is enhanced by the multi-stage tandem structure, but variations in energy characteristi...The electric submersible pump(ESP) is a crucial apparatus utilized for lifting in the oil extraction process.Its lifting capacity is enhanced by the multi-stage tandem structure, but variations in energy characteristics and internal flow across stages are also introduced. In this study, the inter-stage variability of energy characteristics in ESP hydraulic systems is investigated through entropy production(EP) analysis,which incorporates numerical simulations and experimental validation. The EP theory facilitates the quantification of energy loss in each computational subdomain at all ESP stages, establishing a correlation between microscopic flow structure and energy dissipation within the system. Furthermore, the underlying causes of inter-stage variability in ESP hydraulic systems are examined, and the advantages and disadvantages of applying the EP theory in this context are evaluated. Consistent energy characteristics within the ESP, aligned with the distribution of internal flow structure, are provided by the EP theory, as demonstrated by our results. The EP theory also enables the quantitative analysis of internal flow losses and complements existing performance analysis methods to map the internal flow structure to hydraulic losses. Nonetheless, an inconsistency between the energy characterization based on EP theory and the traditional efficiency index when reflecting inter-stage differences is identified. This inconsistency arises from the exclusive focus of the EP theory on flow losses within the flow field, disregarding the quantification of external energy input to the flow field. This study provides a reference for the optimization of EP theory in rotating machinery while deeply investigating the energy dissipation characteristics of multistage hydraulic system, which has certain theoretical and practical significance.展开更多
In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking....In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.展开更多
基金The work was financially supported by the National Natural Science Foundation of China(No.52173135,22207024)Jiangsu Specially Appointed Professorship,Leading Talents of Innovation and Entrepreneurship of Gusu(ZXL2022496)the Suzhou Science and Technology Program(SKY2022039).
文摘Massive efforts have been concentrated on the advance of eminent near-infrared(NIR) photothermal materials(PTMs) in the NIR-Ⅱ window(1000–1700 nm), especially organic PTMs because of their intrinsic biological safety compared with inorganic PTMs. However, so far, only a few NIR-Ⅱresponsive organic PTMs was explored, and their photothermal conversion efficiencies(PCEs) still remain relatively low. Herein, donor–acceptor conjugated diradical polymers with open-shell characteristics are explored for synergistically photothermal immunotherapy of metastatic tumors in the NIR-Ⅱ window. By employing side-chain regulation, the conjugated diradical polymer TTB-2 with obvious NIR-Ⅱ absorption was developed, and its nanoparticles realize a record-breaking PCE of 87.7% upon NIR-Ⅱ light illustration. In vitro and in vivo experiments demonstrate that TTB-2 nanoparticles show good tumor photoablation with navigation of photoacoustic imaging in the NIR-Ⅱ window, without any side-effect. Moreover, by combining with PD-1 antibody,the pulmonary metastasis of breast cancer is high-effectively prevented by the efficient photo-immunity effect. Thus, this study explores superior PTMs for cancer metastasis theranostics in the NIR-Ⅱ window, offering a new horizon in developing radical-characteristic NIR-Ⅱ photothermal materials.
基金financially supported by the National Key R&D Program of China(No.2022YFB3705300)the National Natural Science Foundation of China(Nos.U1960204 and 51974199)the Postdoctoral Fellowship Program of CPSF(No.GZB20230515)。
文摘The infamous type Ⅳ failure within the fine-grained heat-affected zone (FGHAZ) in G115 steel weldments seriously threatens the safe operation of ultra-supercritical (USC) power plants.In this work,the traditional thermo-mechanical treatment was modified via the replacement of hot-rolling with cold rolling,i.e.,normalizing,cold rolling,and tempering (NCT),which was developed to improve the creep strength of the FGHAZ in G115 steel weldments.The NCT treatment effectively promoted the dissolution of preformed M_(23)C_(6)particles and relieved the boundary segregation of C and Cr during welding thermal cycling,which accelerated the dispersed reprecipitation of M_(23)C_(6) particles within the fresh reaustenitized grains during post-weld heat treatment.In addition,the precipitation of Cu-rich phases and MX particles was promoted evidently due to the deformation-induced dislocations.As a result,the interacting actions between precipitates,dislocations,and boundaries during creep were reinforced considerably.Following this strategy,the creep rupture life of the FGHAZ in G115 steel weldments can be prolonged by 18.6%,which can further push the application of G115 steel in USC power plants.
基金supported by the National Natural Science Foundation of China(NSFC,No.22078052)the Fundamental Research Funds for the Central Universities(DUT22ZD207,DUT22LAB612)。
文摘Seawater splitting into hydrogen,a promising technology,is seriously limited by the durability and tolerance of electrocatalysts for chlorine ions in seawater at large current densities due to chloride oxidation and corrosion.Here,we present a robust and weak-nucleophilicity nickel-iron hydroxide electrocatalyst with excellent selectivity for oxygen evolution and an inert response for chlorine ion oxidation which are key and highly desired for efficient seawater electrolysis.Such a weak-nucleophilicity electrocatalyst can well match with strong-nucleophilicity OH-compared with the weak-nucleophilicity Cl^(-),resultantly,the oxidation of OH-in electrolyte can be more easily achieved relative to chlorine ion oxidation,confirmed by ethylenediaminetetraacetic acid disodium probing test.Further,no strongly corrosive hypochlorite is produced when the operating voltage reaches about 2.1 V vs.RHE,a potential that is far beyond the thermodynamic potential of chlorine ion oxidatio n.This concept and approach to reasonably designing weaknucleophilicity electrocatalysts that can greatly avoid chlorine ion oxidation under alkaline seawater environments can push forward the seawater electrolysis technology and also accelerate the development of green hydrogen technique.
基金support from the National Natural Science Foundation of China (51873134 and 52303043)the Natural Science Foundation of Jiangsu Province of China (BK20211317)+1 种基金the Natural Science Foundation of the Jiangsu Higher Education Institutions of China (23KJB430031)the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD),China National Textile and Apparel Council Key Laboratory for Silk Functional Materials and Technology,and the Opening Project of Key Laboratory of Jiangsu Province for Silk Engineering,Soochow University (KJS2168).
文摘In recent years,significant progress has been made in both three-dimensional(3D)printing technologies and the exploration of silk as an ink to produce biocompatible constructs.Combined with the unlimited design potential of 3D printing,silk can be processed into a broad range of functional materials and devices for various biomedical applications.The ability of silk to be processed into various materials,including solutions,hydrogels,particles,microspheres,and fibers,makes it an excellent candidate for adaptation to different 3D printing techniques.This review presents a didactic overview of the 3D printing of silk-based materials,major categories of printing techniques,and their prototyping mechanisms and structural features.In addition,we provide a roadmap for researchers aiming to incorporate silk printing into their own work by summarizing promising strategies from both technical and material aspects,to relate state-of-the-art silk-based material processing with fast-developing 3D printing technologies.Thus,our focus is on elucidating the techniques and strategies that advance the development of precise assembly strategies for silk-based materials.Precise printing(including high printing resolution,complex structure realization,and printing fidelity)is a prerequisite for the digital design capability of 3D printing technology and would definitely broaden the application era of silk,such as complex biomimetic tissue structures,vasculatures,and transdermal microneedles.
基金supported by the National Natural Science Foundation of China(Grants 31971463,31930078)the National Key R&D Program of China(Grant 2021YFD2200402)the Chinese Academy of Forestry(Grant CAFYBB2020ZA001).
文摘Different chemical compositions of soil organic carbon(SOC)affect its persistence and whether it signifi-cantly differs between natural forests and plantations remains unclear.By synthesizing 234 observations of SOC chemical compositions,we evaluated global patterns of concentra-tion,individual chemical composition(alkyl C,O-alkyl C,aromatic C,and carbonyl C),and their distribution even-ness.Our results indicate a notably higher SOC,a markedly larger proportion of recalcitrant alkyl C,and lower easily decomposed carbonyl C proportion in natural forests.How-ever,SOC chemical compositions were appreciably more evenly distributed in plantations.Based on the assumed con-ceptual index of SOC chemical composition evenness,we deduced that,compared to natural forests,plantations may have higher possible resistance to SOC decomposition under disturbances.In tropical regions,SOC levels,recalcitrant SOC chemical composition,and their distributed evenness were significantly higher in natural forests,indicating that SOC has higher chemical stability and possible resistance to decomposition.Climate factors had minor effects on alkyl C in forests globally,while they notably affected SOC chemi-cal composition in tropical forests.This could contribute to the differences in chemical compositions and their distrib-uted evenness between plantations and natural stands.
基金the financial support from the National Key Research and Development Program of China(2022YFB2502003)the Guangdong Basic and Applied Basic Research Foundation(2023B1515040011)。
文摘Bromine has attracted significant attention as a cathode material for aqueous batteries due to its high reduction potential of 1.05 V(Br_(3)^(-)+2e~-■3Br~-),impressive theoretical specific capacity of 223 mA h g^(-1),and rapid reaction kinetics in the electrolyte.However,searching for compatible anode materials to match with bromine has posed a challenge due to its highly corrosive nature.In this study,we developed oxygen-deficient MoO_(3) with TiO_(2) coating(referred to as MoO_(3-x)@TiO_(2))as an anode material to pair with a bromine cathode in static full batteries.The oxygen deficiency contributes to enhanced electronic and protonic diffusion within the MoO_(3-x)lattice,while the TiO_(2) coating mitigates structural dissolution and proton trapping during cycling.The MoO_(3-x)@TiO_(2) demonstrates fast charge storage kinetics and excellent resistance to bromine corrosion.The impressive compatibility between MoO_(3-x)@TiO_(2) and bromine enables the construction of membrane-less full batteries with exceptional rate capability and cyclic stability.The MoO_(3-x)@TiO_(2)-bromine battery achieves an energy density of70.8 W h kg^(-1)at a power density of 328.1 W kg^(-1),showcasing an impressive long-term cyclic life of 20,000 cycles.Our study provides valuable insights for the development of high-performance aqueous secondary batteries.
文摘An in-house code,CONTHAC-3D,was developed to calculate and analyze thermal-hydraulic phenomena in containments during severe accidents.CONTHAC-3D is a three-dimensional computational fluid dynamics code that can be applied to predict gas flow,diffusion,and steam condensation in a containment during a severe hypothetical accident,as well as to obtain an estimate of the local hydrogen concentration in various zones of the containment.CONTHAC-3D was developed using multiple models to simulate the features of the proprietary systems and equipment of HPR1000 and ACP100,such as the passive cooling system,passive autocatalytic recombiners and the passive air cooling system.To validate CONTHAC-3D,a GX6 test was performed at the Battelle Model Containment facility.The hydrogen concentration and temperature monitored by the GX6 test are accurately predicted by CONTHAC-3D.Subsequently,the hydrogen distribution in the HPR1000 containment during a severe accident was studied.The results show that the hydrogen removal rates calculated using CONTHAC-3D for different types of PARs agree well with the theoretical values,with an error of less than 1%.As the accident progresses,the hydrogen concentration in the lower compartment becomes higher than that in the large space,which implies that the lower compartment has a higher hydrogen risk than the dome and large space at a later stage of the accident.The amount of hydrogen removed by the PARs placed on the floor of the compartment is small;therefore,raising the installation height of these recombiners appropriately is recommended.However,we do not recommend installing all autocatalytic recombiners at high positions.The study findings in regard to the hydrogen distribution in the HPR1000 containment indicate that CONTHAC-3D can be applied to the study of hydrogen risk containment.
基金supported by the National Natural Science Foundation of China(31930078,32301559)the Ministry of Science and Technology of China(2021YFD2200405,2021YFD2200402)+1 种基金Fundamental Research Funds of CAF(CAFYBB2021ZW001)the program for scientific research start-up funds of Guangdong Ocean University。
文摘Biodiversity experiments have shown that soil organic carbon(SOC)is not only a function of plant diversity,but is also closely related to the nitrogen(N)-fixing plants.However,the effect of N-fixing trees on SOC chemical stability is still little known,especially with the compounding effects of tree species diversity.An experimental field manipulation was established in subtropical plantations of southern China to explore the impacts of tree species richness(i.e.,one,two,four and six tree species)and with/without N-fixing trees on SOC chemical stability,as indicated by the ratio of easily oxidized organic carbon to SOC(EOC/SOC).Plant-derived C components in terms of hydrolysable plant lipids and lignin phenols were isolated from soils for evaluating their relative contributions to SOC chemical stability.The results showed that N-fixing tree species rather than tree species richness had a significant effect on EOC/SOC.Hydrolysable plant lipids and lignin phenols were negatively correlated with EOC/SOC,while hydrolysable plant lipids contributed more to EOC/SOC than lignin phenols,especially in the occurrence of N-fixing trees.The presence of N-fixing tree species led to an increase in soil N availability and a decrease in fungal abundance,promoting the selective retention of certain key components of hydrolysable plant lipids,thus enhancing SOC chemical stability.These findings underpin the crucial role of N-fixing trees in shaping SOC chemical stability,and therefore,preferential selection of N-fixing tree species in mixed plantations is an appropriate silvicultural strategy to improve SOC chemical stability in subtropical plantations.
基金supported by the Key Laboratory of Nuclear Data foundation(No.JCKY2022201C157)。
文摘Interest has recently emerged in potential applications of(n,2n)reactions of unstable nuclei.Challenges have arisen because of the scarcity of experimental cross-sectional data.This study aims to predict the(n,2n)reaction cross-section of long-lived fission products based on a tensor model.This tensor model is an extension of the collaborative filtering algorithm used for nuclear data.It is based on tensor decomposition and completion to predict(n,2n)reaction cross-sections;the corresponding EXFOR data are applied as training data.The reliability of the proposed tensor model was validated by comparing the calculations with data from EXFOR and different databases.Predictions were made for long-lived fission products such as^(60)Co,^(79)Se,^(93)Zr,^(107)P,^(126)Sn,and^(137)Cs,which provide a predicted energy range to effectively transmute long-lived fission products into shorter-lived or less radioactive isotopes.This method could be a powerful tool for completing(n,2n)reaction cross-sectional data and shows the possibility of selective transmutation of nuclear waste.
基金supported by Stability Supports Research Project of Treasury Department(No.197801)Talent Fund of CIAE(No.219213)。
文摘Experimental scratch tests and first-principles calculations were used to investigate the adhesion property of AlCrNbSiTi high-entropy alloy(HEA)coatings on zirconium substrates.AlCrNbSiTi HEA and Cr coatings were deposited on Zr alloy substrates using multi-arc ion plating technology,and scratch tests were subsequently conducted to estimate the adhesion property of the coatings.The results indicated that Cr coatings had better adhesion strength than HEA coatings,and the HEA coatings showed brittleness.The special quasi-random structure approach was used to build HEA models,and Cr/Zr and HEA/Zr interface models were employed to investigate the cohesion between the coatings and Zr substrate using first-principles calculations.The calculated interface energies showed that the cohesion between the Cr coating and the Zr substrate was stronger than that of the HEA coating with Zr.In contrary to Al or Si in the HEA coating,Cr,Nb,and Ti atoms binded strongly with Zr substrate.Based on the calculated elastic constants,it was found that low Cr and high Al content decreased the mechanical performances of HEA coatings.Finally,this study demonstrated the utilization of a combined approach involving first-principles calculations and experimental studies for future HEA coating development.
基金supported by the National Natural Science Foundation of China(No.52002320,and 51972267)the China Postdoctoral Science Foundation(No.2022M712574)+3 种基金the Science Foundation of Shaanxi Province(2022GD-TSLD-18,No.2023-JCZD-03)Natural Science Foundation of Shaanxi Province(No.2022GY-372,2021GY-153)Industrial Projects Foundation of Ankang Science and Technology Bureau(No.AK2020-GY02-2)the Platform Construction Projects and Technology Service Teams of Ankang University(No.2021AYPT12 and 2022TD07)。
文摘Sodium-ion batteries(SIBs) and hybrid capacitors(SIHCs) have garnered significant attention in energy storage due to their inherent advantages,including high energy density,cost-effectiveness,and enhanced safety.However,developing high-performance anode materials to improve sodium storage performa nce still remains a major challenge.Here,a facile one-pot method has been developed to fabricate a hybrid of MoSeTe nanosheets implanted within the N,F co-doped honeycomb carbon skeleton(MoSeTe/N,F@C).Experimental results demonstrate that the incorporation of large-sized Te atoms into MoSeTe nanosheets enlarges the layer spacing and creates abundant anion vacancies,which effectively facilitate the insertion/extraction of Na^(+) and provide numerous ion adsorption sites for rapid surface capacitive behavior.Additionally,the heteroatoms N,F co-doped honeycomb carbon skeleton with a highly conductive network can restrain the volume expansion and boost reaction kinetics within the electrode.As anticipated,the MoSeTe/N,F@C anode exhibits high reversible capacities along with exceptional cycle stability.When coupled with Na_(3)V_(2)(PO_(4))_(3)@C(NVPF@C) to form SIB full cells,the anode delivers a reversible specific capacity of 126 mA h g^(-1) after 100 cycles at 0.1 A g^(-1).Furthermore,when combined with AC to form SIHC full cells,the anode demonstrates excellent cycling stability with a reversible specific capacity of50 mA h g^(-1) keeping over 3700 cycles at 1.0 A g^(-1).In situ XRD,ex situ TEM characterization,and theoretical calculations(DFT) further confirm the reversibility of sodium storage in MoSeTe/N,F@C anode materials during electrochemical reactions,highlighting their potential for widespread practical application.This work provides new insights into the promising utilization of advanced transition metal dichalcogenides as anode materials for Na^(+)-based energy storage devices.
基金supported by the Research and Development Center of Transport Industry of New Generation of Artificial Intelligence Technology(Grant No.202202H)the National Key R&D Program of China(Grant No.2019YFB1600702)the National Natural Science Foundation of China(Grant Nos.51978600&51808336).
文摘Structural Health Monitoring(SHM)systems have become a crucial tool for the operational management of long tunnels.For immersed tunnels exposed to both traffic loads and the effects of the marine environment,efficiently identifying abnormal conditions from the extensive unannotated SHM data presents a significant challenge.This study proposed amodel-based approach for anomaly detection and conducted validation and comparative analysis of two distinct temporal predictive models using SHM data from a real immersed tunnel.Firstly,a dynamic predictive model-based anomaly detectionmethod is proposed,which utilizes a rolling time window for modeling to achieve dynamic prediction.Leveraging the assumption of temporal data similarity,an interval prediction value deviation was employed to determine the abnormality of the data.Subsequently,dynamic predictive models were constructed based on the Autoregressive Integrated Moving Average(ARIMA)and Long Short-Term Memory(LSTM)models.The hyperparameters of these models were optimized and selected using monitoring data from the immersed tunnel,yielding viable static and dynamic predictive models.Finally,the models were applied within the same segment of SHM data,to validate the effectiveness of the anomaly detection approach based on dynamic predictive modeling.A detailed comparative analysis discusses the discrepancies in temporal anomaly detection between the ARIMA-and LSTM-based models.The results demonstrated that the dynamic predictive modelbased anomaly detection approach was effective for dealing with unannotated SHM data.In a comparison between ARIMA and LSTM,it was found that ARIMA demonstrated higher modeling efficiency,rendering it suitable for short-term predictions.In contrast,the LSTM model exhibited greater capacity to capture long-term performance trends and enhanced early warning capabilities,thereby resulting in superior overall performance.
基金We acknowledge the funding support from the Research Fund for the special projects in key fields of Guangdong Universities(Grant No.2021ZDZX4074)the Japan Society for the Promotion of Science(Grant No.JP-20K21163)Scientific Research Fund of Hainan University(Approval No.KYQD(ZR)-22122).
文摘To ensure a safe and stable CO_(2)storage,pressure responses at an observation well are expected to be an important and useful field monitoring item to estimate the CO_(2)storage behaviors and the aquifer parameters during and after injecting CO_(2),because it can detect whether the injected CO_(2)leaks to the ground surface or the bottom of the sea.In this study,pressure responses were simulated to present design factors such as well location and pressure transmitter of the observation well.Numerical simulations on the pressure response and the time-delay from pressure build-up after CO_(2)injection were conducted by considering aquifer parameters and distance from the CO_(2)injection well to an observation well.The measurement resolution of a pressure transmitter installed in the observation well was presented based on numerical simulation results of the pressure response against pressure build-up at the injection well and CO_(2)plume front propagations.Furthermore,the pressure response at an observation well was estimated by comparing the numerical simulation results with the curve of CO_(2)saturation and relative permeability.It was also suggested that the analytical solution can be used for the analysis of the pressure response tendency using pressure build-up and dimensionless parameters of hydraulic diffusivity.Thus,a criterion was established for selecting a pressure transducer installed at an observation well to monitor the pressure responses with sufficient accuracy and resolution,considering the distance from the injection well and the pressure build-up at the injection well,for future carbon capture and storage(CCS)projects.
基金the financial support from the National Natural Science Foundation of China(22090062,21922810,21825802,22138003,22108083,and 21725603)the Guangdong Pearl River Talents Program(2021QN02C8)+3 种基金the Science and Technology Program of Guangzhou(202201010118)Zhejiang Provincial Natural Science Foundation of China(LR20B060001)National Science Fund for Excellent Young Scholars(22122811)China Postdoctoral Science Foundation(2022M710123)。
文摘Carbon peaking and carbon neutralization trigger a technical revolution in energy&environment related fields.Development of new technologies for green energy production and storage,industrial energy saving and efficiency reinforcement,carbon capture,and pollutant gas treatment is in highly imperious demand.The emerging porous framework materials such as metal–organic frameworks(MOFs),covalent organic frameworks(COFs)and hydrogen-bonded organic frameworks(HOFs),owing to the permanent porosity,tremendous specific surface area,designable structure and customizable functionality,have shown great potential in major energy-consuming industrial processes,including sustainable energy gas catalytic conversion,energy-efficient industrial gas separation and storage.Herein,this manuscript presents a systematic review of porous framework materials for global and comprehensive energy&environment related applications,from a macroscopic and application perspective.
基金supported by the National Key Research and Development Program of China(Grant No.2019YFC1509202)the National Natural Science Foundation of China(Grant Nos.41772350,61371189,and 41701513).
文摘The occurrence of earthquakes is closely related to the crustal geotectonic movement and the migration of mass,which consequently cause changes in gravity.The Gravity Recovery And Climate Experiment(GRACE)satellite data can be used to detect gravity changes associated with large earthquakes.However,previous GRACE satellite-based seismic gravity-change studies have focused more on coseismic gravity changes than on preseismic gravity changes.Moreover,the noise of the north–south stripe in GRACE data is difficult to eliminate,thereby resulting in the loss of some gravity information related to tectonic activities.To explore the preseismic gravity anomalies in a more refined way,we first propose a method of characterizing gravity variation based on the maximum shear strain of gravity,inspired by the concept of crustal strain.The offset index method is then adopted to describe the gravity anomalies,and the spatial and temporal characteristics of gravity anomalies before earthquakes are analyzed at the scales of the fault zone and plate,respectively.In this work,experiments are carried out on the Tibetan Plateau and its surrounding areas,and the following findings are obtained:First,from the observation scale of the fault zone,we detect the occurrence of large-area gravity anomalies near the epicenter,oftentimes about half a year before an earthquake,and these anomalies were distributed along the fault zone.Second,from the observation scale of the plate,we find that when an earthquake occurred on the Tibetan Plateau,a large number of gravity anomalies also occurred at the boundary of the Tibetan Plateau and the Indian Plate.Moreover,the aforementioned experiments confirm that the proposed method can successfully capture the preseismic gravity anomalies of large earthquakes with a magnitude of less than 8,which suggests a new idea for the application of gravity satellite data to earthquake research.
基金financially supported by the China Postdoctoral Science Foundation(Grant No.2023M732979 and No.2022TQ0127)the Cooperative Research Project of the Ministry of Education's "Chunhui Program"(Grant No.HZKY20220117)+1 种基金the Natural Science Foundation of Jiangsu Province(Grant No.BK20220587)the National Natural Science Foundation of China(Grant No.52309112)。
文摘The electric submersible pump(ESP) is a crucial apparatus utilized for lifting in the oil extraction process.Its lifting capacity is enhanced by the multi-stage tandem structure, but variations in energy characteristics and internal flow across stages are also introduced. In this study, the inter-stage variability of energy characteristics in ESP hydraulic systems is investigated through entropy production(EP) analysis,which incorporates numerical simulations and experimental validation. The EP theory facilitates the quantification of energy loss in each computational subdomain at all ESP stages, establishing a correlation between microscopic flow structure and energy dissipation within the system. Furthermore, the underlying causes of inter-stage variability in ESP hydraulic systems are examined, and the advantages and disadvantages of applying the EP theory in this context are evaluated. Consistent energy characteristics within the ESP, aligned with the distribution of internal flow structure, are provided by the EP theory, as demonstrated by our results. The EP theory also enables the quantitative analysis of internal flow losses and complements existing performance analysis methods to map the internal flow structure to hydraulic losses. Nonetheless, an inconsistency between the energy characterization based on EP theory and the traditional efficiency index when reflecting inter-stage differences is identified. This inconsistency arises from the exclusive focus of the EP theory on flow losses within the flow field, disregarding the quantification of external energy input to the flow field. This study provides a reference for the optimization of EP theory in rotating machinery while deeply investigating the energy dissipation characteristics of multistage hydraulic system, which has certain theoretical and practical significance.
基金supported by the National Natural Science Foundation of China under Grant No.62001199Fujian Province Nature Science Foundation under Grant No.2023J01925.
文摘In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.
