The development and utilization of biomass and agroforestry processing byproducts for high-value applications have been an important topic in the field of renewable materials research.Based on this,a two-step microwav...The development and utilization of biomass and agroforestry processing byproducts for high-value applications have been an important topic in the field of renewable materials research.Based on this,a two-step microwave hydrothermal pre-carbonization and KOH activation method was proposed to synthesize tannin-based activated carbons with a high specific surface area,hierarchical pore structure,and good electrochemical performance.The microstructure,texture properties,and physicochemical characteristics were investigated.The results show that the prepared tannin-based activated carbons presented a hierarchical pore structure(micro-and mesopores)with a specific surface area as high as 997.46 m^(3) g^(−1).The electrochemical analysis shows that the tannin-based activated carbons have good wettability and charge transfer rates.Under the three-electrode system with 6 M KOH as the electrolyte,the active material TAC_(600-4) had a maximum specific capacitance of 171 F g^(−1)at 0.5 A g^(−1).As the current density increases to 10 A g^(−1),the specific capacitance can still be maintained at 149 F g^(−1),indicating a good rate capability.Therefore,the specific surface area and pore size of tannin-based activated carbons can be effectively adjusted by the alkali/carbon ratio,making it a promising supercapacitor electrode material and providing a new method for the high-value development of tannins in the field of electrochemical energy storage.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
Perovskite solar cells(PSCs)have been demonstrated to be one of the most promising technologies in the field of renewable energy.However,the presence of the defects in the perovskite films greatly limits the efficienc...Perovskite solar cells(PSCs)have been demonstrated to be one of the most promising technologies in the field of renewable energy.However,the presence of the defects in the perovskite films greatly limits the efficiency and the stability of the PSCs.The additive engineering is one of the most effective approaches to overcome this problem.Most of the successful additives are extracted from the petroleum-based materials,while the research on the biomass-based additives is still lagging behind.In this paper,two ecofriendly hydroxyalkyl cellulose additives,i.e.,hydroxyethyl cellulose(HEC)and hydroxylpropyl cellulose(HPC),are investigated on the performance of the MAPbl_(3)-based inverted PSCs.Due to the strong interaction between the hydroxyl groups of the cellulose and the divalent cations of the perovskite,these additives enhance the crystal grain orientation and significantly repair the defects of the perovskite films.Working as the additives,these two cellulose derivatives show a strong passivation ability,which significantly reduces the trap density and improves the optoelectronic feature of the PSCs.Compared with the average power conversion efficiency(PCE)of the control device(19.19%),an enhancement of~10%is achieved after the addition of HEC.The optimized device(PCE=21.25%)with a long-term stability(10:80 h,PCE=20.93%)is achieved by the incorporation of the HEC additives into the precursor solution.It is the best performance among the PSCs with the cellulose additives up to now.This research provides a novel choice to develop a cost-effective and renewable additive for the PSCs with high efficiency and excellent long-term stability.展开更多
Wound healing is a critical physiological process in living organisms that includes repair cell proliferation and migration,etc.[1,2].While effective wound-healing treatment strategies have been developed in the past,...Wound healing is a critical physiological process in living organisms that includes repair cell proliferation and migration,etc.[1,2].While effective wound-healing treatment strategies have been developed in the past,few have actively controlled the behavior of skin cells to accelerate wound healing[3,4].The importance of accelerated wound healing lies in its ability to shorten treatment time,reduce the risk of infection,and lower the cost of treatment.Electrical stimulation can modulate cell behavior during wound healing by simulating endogenous electric fields,boosting cell migration,fibroblast proliferation,and granulation tissue growth more significantly than traditional methods[5-7].However,electrical stimulation devices’size,space limitations,and unsustainability make them challenging to use in clinical surgery,hindering real-time and convenient treatment.It is therefore crucial to explore the miniaturization of electrical stimulation devices to advance the healing of skin wounds in clinical procedures.Recently,Chen et al.report a flexible micro-Zn-MnO2(mZMB)battery-based woundplast for wound management,which shows a promising path in biomedical applications(Figure 1)[8].展开更多
High-temperature tribological properties of Ni-P alloy coatings processed by electro-brush plating on 20CrMo steel have been investigated. A baU-on-disc configuration was employed and 4 mm diameter Si3N4 balls were us...High-temperature tribological properties of Ni-P alloy coatings processed by electro-brush plating on 20CrMo steel have been investigated. A baU-on-disc configuration was employed and 4 mm diameter Si3N4 balls were used as static counterpart. All the wear tests were carried out at 450℃ for 180 rain without lubricants. The electro-brush plating Ni-P coating is amorphous in as-deposited condition, and it becomes polycrystalline with the formation of Ni and Ni3P after heat treatment at 450℃for 1 h. The friction coefficient of the Ni-P coating is just 50% of that of the 20CrMo steel at the friction temperature of 450℃. A mild adhesive wear mechanism was found for the electro-brush plating Ni-P coating tested at 450℃, whereas for the 20CrMo steel at the same temperature a mixed adhesive and abrasive wear mechanism was observed.展开更多
A novel method was described for the production of silver nanoparticle by using nano-carbon as active template.Special ultrasonic condition was used to assure the active effect of the template and achieve an even and ...A novel method was described for the production of silver nanoparticle by using nano-carbon as active template.Special ultrasonic condition was used to assure the active effect of the template and achieve an even and stable micro-reactor system,therefore yield uniform silver nanoparticle without obvious agglomeration.By laser granularity instrument measurement,the silver nanoparticles show a mean diameter of 20.4 nm and narrow distribution between 18.7 nm and 23.0 nm according to the optimum technology.Regular spherical morphology can be observed by transmission electron microscopy(TEM).X-ray diffraction analysis indicates that Ag+ is deoxidized to form metal Ag during producing precursor,subsequent calcinations promote phase transformation from nonholonomic crystal to complete cubic crystal,which is consistent with the standard JCPDS card of silver.The results reveal that the nano-carbon in active template system not only exerts micro-reactor and steric stabilization effect,but also acts as reducing agent during the reaction.展开更多
The friction and wear characteristics of lauroyl glutamine, lauroyl glycine and lauroyl alanine, used as green additives in HVI 350 mineral lubricating oil, were evaluated on a four-ball tribotester. The morphologies ...The friction and wear characteristics of lauroyl glutamine, lauroyl glycine and lauroyl alanine, used as green additives in HVI 350 mineral lubricating oil, were evaluated on a four-ball tribotester. The morphologies and chemical species of the worn surfaces were analyzed by scanning electron microscope （SEM） and X-ray photoelectron spectroscope （XPS）, respectively. The test results indicated that the three fatty acyl amino acids could effectively improve the anti-wear and friction-reducing abilities of the HVI 350 mineral oil. The improvement in anti-wear and friction-reducing abilities of the mineral oil by the related amino acids was mainly ascribed to the formation of a composite boundary lubrication film due to the adsorption of amino acids on the friction surfaces.展开更多
The influence mechanism of light rare earth elements, which are transited to the welding seam of low-alloy high strength (LAHS) steel through the covering of t he electrode, on the toughness of the welding seam was s...The influence mechanism of light rare earth elements, which are transited to the welding seam of low-alloy high strength (LAHS) steel through the covering of t he electrode, on the toughness of the welding seam was studied. The experimental results show that proper amount of rare earth elements can desulfurate, dehydro genate, reduce inclusions and purify the structure of the welding seam. Rare ear th element additions have the effect on welding seam and, at the same time, the transformation of side-batten ferrite is resisted while the pin-ferrite s tructure is promoted. The improvement of the toughness of the welding seam is du e to the purifying action of rare earth elements as well as their refining effec t on the structure. However, the toughness of the welding seam can decrease whe n the amount of light rare earth elements are added excessively because the crys tal grains become coarser, porosities appear and the inclusions increase as well . The experimental results show that the suitable amount of light rare earth ele ment additions is about 2%.展开更多
2,2,3,3,4,4,5,5-Octafluoropentyl acrylate was grafted onto silk fiber in a two-step heterogeneous system through the vinyl bonds of acryloyloxyethyl isocyanate modified on the silk.The grafted copolylner was analyzed ...2,2,3,3,4,4,5,5-Octafluoropentyl acrylate was grafted onto silk fiber in a two-step heterogeneous system through the vinyl bonds of acryloyloxyethyl isocyanate modified on the silk.The grafted copolylner was analyzed by FTIR and WAXD,and the results revealed that the fluoroacrylate was successfully grafted onto silk fiber and the crystalline structure of silk fibroin withβ-sheet structure was not changed after graft copolymerization.The FT-IR corrected method was used to simulate the grafting yield onto sil...展开更多
The lanthanide complexes containing a bulky tridentate [N,N,O] Schiff base ligand 3,5-But2-2-（OH）C6H2CH=N-8-C9H6N （HL） were synthesized and characterized. The reaction of anhydrous LnCl3 with NaL formed in situ in...The lanthanide complexes containing a bulky tridentate [N,N,O] Schiff base ligand 3,5-But2-2-（OH）C6H2CH=N-8-C9H6N （HL） were synthesized and characterized. The reaction of anhydrous LnCl3 with NaL formed in situ in a 1：1 molar ratio in THF at room temperature afforded the lanthanide Schiff base dichloride complexes LnLCl2（DME） （Ln=Eu （1）; Sm （2））. Complexes 1 and 2 can be used as precursors for the synthesis of the lanthanide cyclopentadienyl Schiff base derivatives. The reactions of complexes 1 and 2 with one equiv of NaCH3C5H4 in THF provided the desired products LnL（CH3C5H4）CI（THF）.THF （Ln=Eu （3）; Sm （4）） in good isolated yields. These complexes were characterized by elemental analysis, IR spectra, and X-ray structural determination, in the case of complexes 3 and 4. The crystal data of complex 3 are monoclinic, P21/C space group, a=1.3370（2） nm, b=1.5190（2） nm, c=1.8910（3） nm, β=109.846（4）°, V=3.6125（8） nm^3, Z=4, Dc=1.416 mg/m^3,μ=1.847 mm^-1, F（000）=1584, R=0.0707, wR=0.1350. The crystal data of complex 4 are monoclinic, P21/c space group, a=1.3383（1） nm, b=1.5210（2） nm, c=1.8960（2） nm, β =109.878（3）°, V=3.6293（7） nm^3, Z=4, Dc=1.407 mg/m^3, μ=1.728 mm^-1, F（000）= 1580, R=0.0670, wR=0.1385.展开更多
The properties of soybean protein/poly（vinyl alcohol） （SP/ PVA） blended fibers subjected to wet heat treatment in hot water were measured. The structure of fibers was investigated by scanning electron microscope ...The properties of soybean protein/poly（vinyl alcohol） （SP/ PVA） blended fibers subjected to wet heat treatment in hot water were measured. The structure of fibers was investigated by scanning electron microscope （SEM）, Fourier transform infrared （FTIR） spectroscopy, wide-angle X-ray diffraction （WXD） and differential scanning calorimetry （DSC）. The results show that the wet heat treatment above 100℃ has a great influence on the properties and structure of SP/PVA blended fibers. After the wet heat treatment at high temperature, the fibers exhibit the severe shrinking and yellowing, the great decrease in breaking strength and adhesive aggregation. The fibers show a broader main X-ray diffraction peak with the disappearance of minor diffraction peaks, a double DSC melting behavior with the peak temperatures of 215 and 233℃, and a weaker intensity of crystallization-sensitive absorbance peak of PVA component at 1 142 cm^-1. Therefore it is concluded that the wet heat treatment above 100℃ leads to a change in the crystalline structure of fibers and the scission and degradation of PVA macromolecular chains.展开更多
In this study,natural bamboo fiber was prepared combining chemical pretreatment with mechanical disc refining,opening,and carding.An orthogonal experiment was designed based on four factors and three levels;thereafter...In this study,natural bamboo fiber was prepared combining chemical pretreatment with mechanical disc refining,opening,and carding.An orthogonal experiment was designed based on four factors and three levels;thereafter,the manufacturing process was optimized.The length,diameter,tensile strength,and elastic modulus of the bamboo fiber were determined,and the crystallinity and morphology of the fiber were analyzed using X-ray diffraction(XRD)and scanning electron microscopy(SEM).The results showed that the optimum parameters for the chemical pretreatment were a cooking temperature of 130℃,heating time of 2 h,NaOH dosage of 2%,and Na2SO3 dosage of 10%.The cooking yield of bamboo chips was 89.5%,and the carding yield of natural bamboo fiber was 43.0% under the optimum conditions.The length,diameter,tensile strength,and elastic modulus of the obtained fiber were 36.71 mm,0.285 mm,407 MPa,and 27.7 GPa,respectively.XRD analysis and SEM observations showed that the technology used in this study can produce bright and compact natural bamboo fibers with high crystallinity.展开更多
Undoped and La-doped ZnS thin films are prepared by chemical bath deposition(CBD)process through the co-precipitation reaction of inorganic precursors zinc sulfate,thiosulfate ammonia and La_(2)O_(3).Composition of th...Undoped and La-doped ZnS thin films are prepared by chemical bath deposition(CBD)process through the co-precipitation reaction of inorganic precursors zinc sulfate,thiosulfate ammonia and La_(2)O_(3).Composition of the 61ms is analyzed using an energy-dispersive x-ray spectroscopy(EDS).Absorption spectra and spectral tra.nsmitta.nces of the 61ms are measured using a double beam UV-VIS spectrophotometer(TU-1901).It is found that significant red shifts in absorption spectra and decrease in absorptivity are obtained with increasing lanthanum.Moreover,optical transmittance is increased as La is doped,with a transmittance of more than 80%for wavelength above 360 nm in La-doped ZnS thin 61ms.Compared to pure ZnS,the band gap decreases and flat-band potential positively shifts to quasi-metal for the La-doped ZnS.These results indicate that La-doped ZnS thin 6hns could be valuably adopted as transparent electrodes.展开更多
Wood has no inherent natural resistance against agents of biodegradation. We evaluated the effects of metal bath heat treatment(MBHT) on decay resistance and dimensional stability of Chinese parasol(Firmiana simplex) ...Wood has no inherent natural resistance against agents of biodegradation. We evaluated the effects of metal bath heat treatment(MBHT) on decay resistance and dimensional stability of Chinese parasol(Firmiana simplex) and Chinese fir(Cunninghamia lanceolata) wood. A low melting point alloy was used as heating medium in the treatment of the wood samples at 150, 180, and 210 °C for2, 4, and 8 h. Heat-treated and control samples were exposed to brown rot fungus(Poria placenta) and white rot fungus(Coriolus versicolor) for decay resistance testing and anti-swelling efficiency(ASE). The improved decay resistance with increase temperatures with low mass losses of 7.3 and 7.3% for F. simplex, and 3.9 and 3.6% for C.lanceolata at 210 °C for 8 h against Coriolus versicolor and Poria placenta, respectively. ASE indicated that MBHT contributed to improved dimensional stability of both wood species after treatment. Scanning electron micrograph results indicate that metal bath-treated samples showed strong decay resistance. Therefore, our approach to thermally modify wood should be explored to overcome the energy utilization by using low melting point alloy for the heat treatment of wood.展开更多
As one of the main structural units in a building,a solid wood floor has significant strategic research value for low-carbon energy saving.Taking the production line of a solid larch wood floor as a case study,we asse...As one of the main structural units in a building,a solid wood floor has significant strategic research value for low-carbon energy saving.Taking the production line of a solid larch wood floor as a case study,we assessed the environmental load during production based upon a life cycle assessment.Using GaBi 6.0 software,we analyzed the associated carbon sequestration during floor production,with the initial planting density serving as the disturbance factor in a modular analysis.The results indicated that the cutting and finishing steps have relatively intense,negative influences on the environment,whereas transportation,ripping,and trimming do not.Additionally,recycling biomass waste has the potential to reduce greenhouse gas emissions.When the initial planting density was 3.0×3.0 m,carbon sequestration was relatively high.Although the emissions of freshwater pollutants,volatile organic compounds,and fine particulate matter（matter with a 2.5-μm diameter） were comparatively high,the reduction of greenhouse gas emissions was still excellent at this planting density.展开更多
In order to improve the total-dose radiation hardness of the buried oxide of separation by implanted oxygen silicon- on-insulator wafers, nitrogen ions were implanted into the buried oxide with a dose of 1016 cm-2, an...In order to improve the total-dose radiation hardness of the buried oxide of separation by implanted oxygen silicon- on-insulator wafers, nitrogen ions were implanted into the buried oxide with a dose of 1016 cm-2, and subsequent annealing was performed at 1100 ℃. The effect of annealing time on the radiation hardness of the nitrogen implanted wafers has been studied by the high frequency capacitance-voltage technique. The results suggest that the improvement of the radiation hardness of the wafers can be achieved through a shorter time annealing after nitrogen implantation. The nitrogen-implanted sample with the shortest annealing time 0.5 h shows the highest tolerance to total-dose radiation. In particular, for the 1.0 and 1.5 h annealing samples, both total dose responses were unusual. After 300-krad（Si） irradiation, both the shifts of capacitance-voltage curve reached a maximum, respectively, and then decreased with increasing total dose. In addition, the wafers were analysed by the Fourier transform infrared spectroscopy technique, and some useful results have been obtained.展开更多
Cold caustic extraction has potential applications in the production of dissolving-grade pulps due to its ability to selectively remove hemicellulose from lignocellulosic materials. In this study,we demonstrate the co...Cold caustic extraction has potential applications in the production of dissolving-grade pulps due to its ability to selectively remove hemicellulose from lignocellulosic materials. In this study,we demonstrate the conversion of paper-grade kraft pulp into dissolving pulp by a single-stage cold caustic extraction. Under the extraction conditions of 12 wt% NaOH lye,11% pulp consistency,a temperature of 35℃,and 2 h,a paper-grade softwood kraft pulp was purified to high-grade dissolving pulp with 97. 1% α-cellulose content,1. 2% pentosane content,and narrowed molecular weight distribution. The resulting extraction filtrate was concentrated by nano-filtration to obtain the hemicellulose content of 59. 0 g / L,while the permeate was a clear Na OH solution with 10. 9 wt% concentration. A process configuration was also proposed,integrating this cold caustic extraction process with existing pulp and paper production and multi-purpose utilization of the extraction filtrate.展开更多
Silver nanoparticles with different morphologies were prepared in AgNO3 aqueous solution using nanocarbon as template medium and polymer surfactant as protecting agent in an ultrasonic field.The polymer surfactant pol...Silver nanoparticles with different morphologies were prepared in AgNO3 aqueous solution using nanocarbon as template medium and polymer surfactant as protecting agent in an ultrasonic field.The polymer surfactant polyvinylpyrrolidone(PVP)was self-prepared and used directly in aqueous solution form.The molecular weight of PVP was measured by viscosimeter.The crystalline phase,component,size,and morphology of the as-synthesized silver naoparticles were characterized by XRD,TEM,FTIR,and Laser Granularity Instrument.The results indicated that ultrasonic was the key factor to deoxidize Ag+ to be Ago,nanocarbon and polymer surfactants accelerated the deoxidization reaction course and controlled the agglomeration of freshly formed silver nanoparticles,the category of polymer surfactant had decisive effect on the morphology of as-synthesized nanoparticle.Well-defined dendrites silver nanoparticle could be attained when choosing PVP as surfactant in AgNO3 aqueous solution,while regular sphere silver nanoparticle could be synthesized in the presence of polyvinyl alcohol(PVA)surfactant.Moreover,the concentration of AgNO3 and ultrasonic action time also had obvious effect on the morphology of silver nanoparticle,low concentration of AgNO3 and long time of ultrasonic were not in favor of forming dendrite silver.展开更多
Dragline,framework and cocoon silk fibers of Araneus Ventricosus were used for this study.To investigate the microstructure mechanisms of stress-strain behavior of spider silk,firstly,amino acid compositions were anal...Dragline,framework and cocoon silk fibers of Araneus Ventricosus were used for this study.To investigate the microstructure mechanisms of stress-strain behavior of spider silk,firstly,amino acid compositions were analyzed and molecular conformations and crystallinity were measured with Raman spectra and X-ray diffraction respectively.The results showed that there were more amino acids with large side groups and polar ones in spider silk than those of Bombyx silk,and the amino acid distribution varied with different spider silk.The molecular structures were mainly α-helix and β-sheet,and random coil and β-turn existed as well.The proportions and arrangement of these conformations of dragline silk were different from framework and cocoon silk fibers.Microstructure was one of important factors of excellent mechanical properties of spider silk.Crystallinity of spider silk was very low,which implied that the roles of crystal on spider silk were not as great as other protein fibers.展开更多
Based on some assumptions, the numerical model of thermal distribution in solid state laser crystal pumped by pulsed laser diode is set up due to the pumped intensity distribution. Taking into account the property of ...Based on some assumptions, the numerical model of thermal distribution in solid state laser crystal pumped by pulsed laser diode is set up due to the pumped intensity distribution. Taking into account the property of YAG materials that varies with temperature, the transient temperature distribution of the laser crystal is calculated using finite element method on condition that K is a constant and a function of temperature. Then, the influence of the pumping parameters on the thermal effect in laser crystal is also discussed. This study is helpful to optimize the design of the diode side pumped solid state lasers.展开更多
基金The authors are grateful for the financial support from the National Natural Science Foundation of China(31971593)National College Students’Innovation and Entrepreneurship Training Program(111ZC22017)the Natural Science Foundation of Fujian Province Department of Science and Technology(2019J01386)。
文摘The development and utilization of biomass and agroforestry processing byproducts for high-value applications have been an important topic in the field of renewable materials research.Based on this,a two-step microwave hydrothermal pre-carbonization and KOH activation method was proposed to synthesize tannin-based activated carbons with a high specific surface area,hierarchical pore structure,and good electrochemical performance.The microstructure,texture properties,and physicochemical characteristics were investigated.The results show that the prepared tannin-based activated carbons presented a hierarchical pore structure(micro-and mesopores)with a specific surface area as high as 997.46 m^(3) g^(−1).The electrochemical analysis shows that the tannin-based activated carbons have good wettability and charge transfer rates.Under the three-electrode system with 6 M KOH as the electrolyte,the active material TAC_(600-4) had a maximum specific capacitance of 171 F g^(−1)at 0.5 A g^(−1).As the current density increases to 10 A g^(−1),the specific capacitance can still be maintained at 149 F g^(−1),indicating a good rate capability.Therefore,the specific surface area and pore size of tannin-based activated carbons can be effectively adjusted by the alkali/carbon ratio,making it a promising supercapacitor electrode material and providing a new method for the high-value development of tannins in the field of electrochemical energy storage.
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.
基金the National Natural Science Foundation of China(61935017,62175268,21674123,31700507)Fujian Natural Science Foundation for Distinguished Young Scholars(2020J06039)+4 种基金Project of“100 People Planning in Fujian Province,”Fujian Provincial Department of Finance for the research of organic photovoltaic solar cell(Kle20001A)the Science and Technology Development Fund,Macao SAR(File no.FDCT-0044/2020/A1,0082/2021/A2)UM's research fund(File no.MYRG2020-00151-IAPME)Natural Science Foundation of Guangdong Province,China(2019A1515012186)Shenzhen-Hong Kong-Macao Science and Technology Innovation Project(Category C)(SGDX2020110309360100).
文摘Perovskite solar cells(PSCs)have been demonstrated to be one of the most promising technologies in the field of renewable energy.However,the presence of the defects in the perovskite films greatly limits the efficiency and the stability of the PSCs.The additive engineering is one of the most effective approaches to overcome this problem.Most of the successful additives are extracted from the petroleum-based materials,while the research on the biomass-based additives is still lagging behind.In this paper,two ecofriendly hydroxyalkyl cellulose additives,i.e.,hydroxyethyl cellulose(HEC)and hydroxylpropyl cellulose(HPC),are investigated on the performance of the MAPbl_(3)-based inverted PSCs.Due to the strong interaction between the hydroxyl groups of the cellulose and the divalent cations of the perovskite,these additives enhance the crystal grain orientation and significantly repair the defects of the perovskite films.Working as the additives,these two cellulose derivatives show a strong passivation ability,which significantly reduces the trap density and improves the optoelectronic feature of the PSCs.Compared with the average power conversion efficiency(PCE)of the control device(19.19%),an enhancement of~10%is achieved after the addition of HEC.The optimized device(PCE=21.25%)with a long-term stability(10:80 h,PCE=20.93%)is achieved by the incorporation of the HEC additives into the precursor solution.It is the best performance among the PSCs with the cellulose additives up to now.This research provides a novel choice to develop a cost-effective and renewable additive for the PSCs with high efficiency and excellent long-term stability.
基金supported by the Natural Science Foundation of Jiangsu Province(BK20230117)the Natural Science Research Project of Nanjing Polytechnic Institute(NJPI-2023-04)+1 种基金the Startup Fund for Advanced Talents of Putian University(Grant No.2021070)the Qinglan Project of Jiangsu Province.
文摘Wound healing is a critical physiological process in living organisms that includes repair cell proliferation and migration,etc.[1,2].While effective wound-healing treatment strategies have been developed in the past,few have actively controlled the behavior of skin cells to accelerate wound healing[3,4].The importance of accelerated wound healing lies in its ability to shorten treatment time,reduce the risk of infection,and lower the cost of treatment.Electrical stimulation can modulate cell behavior during wound healing by simulating endogenous electric fields,boosting cell migration,fibroblast proliferation,and granulation tissue growth more significantly than traditional methods[5-7].However,electrical stimulation devices’size,space limitations,and unsustainability make them challenging to use in clinical surgery,hindering real-time and convenient treatment.It is therefore crucial to explore the miniaturization of electrical stimulation devices to advance the healing of skin wounds in clinical procedures.Recently,Chen et al.report a flexible micro-Zn-MnO2(mZMB)battery-based woundplast for wound management,which shows a promising path in biomedical applications(Figure 1)[8].
基金financially supported by the Special Foundation of the Shanghai Education Commission for Nano-Materials Research (0852nm01400)Shanghai Leading Academic Discipline Project (J51402)
文摘High-temperature tribological properties of Ni-P alloy coatings processed by electro-brush plating on 20CrMo steel have been investigated. A baU-on-disc configuration was employed and 4 mm diameter Si3N4 balls were used as static counterpart. All the wear tests were carried out at 450℃ for 180 rain without lubricants. The electro-brush plating Ni-P coating is amorphous in as-deposited condition, and it becomes polycrystalline with the formation of Ni and Ni3P after heat treatment at 450℃for 1 h. The friction coefficient of the Ni-P coating is just 50% of that of the 20CrMo steel at the friction temperature of 450℃. A mild adhesive wear mechanism was found for the electro-brush plating Ni-P coating tested at 450℃, whereas for the 20CrMo steel at the same temperature a mixed adhesive and abrasive wear mechanism was observed.
文摘A novel method was described for the production of silver nanoparticle by using nano-carbon as active template.Special ultrasonic condition was used to assure the active effect of the template and achieve an even and stable micro-reactor system,therefore yield uniform silver nanoparticle without obvious agglomeration.By laser granularity instrument measurement,the silver nanoparticles show a mean diameter of 20.4 nm and narrow distribution between 18.7 nm and 23.0 nm according to the optimum technology.Regular spherical morphology can be observed by transmission electron microscopy(TEM).X-ray diffraction analysis indicates that Ag+ is deoxidized to form metal Ag during producing precursor,subsequent calcinations promote phase transformation from nonholonomic crystal to complete cubic crystal,which is consistent with the standard JCPDS card of silver.The results reveal that the nano-carbon in active template system not only exerts micro-reactor and steric stabilization effect,but also acts as reducing agent during the reaction.
基金the financial support from National Natural Science Foundation of China(project No.50975282)Chongqing Science Foundation for Outstanding Youth(project No. CSTC2008,BA4037)
文摘The friction and wear characteristics of lauroyl glutamine, lauroyl glycine and lauroyl alanine, used as green additives in HVI 350 mineral lubricating oil, were evaluated on a four-ball tribotester. The morphologies and chemical species of the worn surfaces were analyzed by scanning electron microscope （SEM） and X-ray photoelectron spectroscope （XPS）, respectively. The test results indicated that the three fatty acyl amino acids could effectively improve the anti-wear and friction-reducing abilities of the HVI 350 mineral oil. The improvement in anti-wear and friction-reducing abilities of the mineral oil by the related amino acids was mainly ascribed to the formation of a composite boundary lubrication film due to the adsorption of amino acids on the friction surfaces.
文摘The influence mechanism of light rare earth elements, which are transited to the welding seam of low-alloy high strength (LAHS) steel through the covering of t he electrode, on the toughness of the welding seam was studied. The experimental results show that proper amount of rare earth elements can desulfurate, dehydro genate, reduce inclusions and purify the structure of the welding seam. Rare ear th element additions have the effect on welding seam and, at the same time, the transformation of side-batten ferrite is resisted while the pin-ferrite s tructure is promoted. The improvement of the toughness of the welding seam is du e to the purifying action of rare earth elements as well as their refining effec t on the structure. However, the toughness of the welding seam can decrease whe n the amount of light rare earth elements are added excessively because the crys tal grains become coarser, porosities appear and the inclusions increase as well . The experimental results show that the suitable amount of light rare earth ele ment additions is about 2%.
基金the National Natural Science Foundation of China (No.50673071).
文摘2,2,3,3,4,4,5,5-Octafluoropentyl acrylate was grafted onto silk fiber in a two-step heterogeneous system through the vinyl bonds of acryloyloxyethyl isocyanate modified on the silk.The grafted copolylner was analyzed by FTIR and WAXD,and the results revealed that the fluoroacrylate was successfully grafted onto silk fiber and the crystalline structure of silk fibroin withβ-sheet structure was not changed after graft copolymerization.The FT-IR corrected method was used to simulate the grafting yield onto sil...
基金the National Natural Science Foundation of Chinathe Natural Science Foundation of Jiangsu Province (BK2007505)Major Basic Research Project of the Natural Science Foundation of the Jiangsu Higher Education Institutions (07KJA15014)
文摘The lanthanide complexes containing a bulky tridentate [N,N,O] Schiff base ligand 3,5-But2-2-（OH）C6H2CH=N-8-C9H6N （HL） were synthesized and characterized. The reaction of anhydrous LnCl3 with NaL formed in situ in a 1：1 molar ratio in THF at room temperature afforded the lanthanide Schiff base dichloride complexes LnLCl2（DME） （Ln=Eu （1）; Sm （2））. Complexes 1 and 2 can be used as precursors for the synthesis of the lanthanide cyclopentadienyl Schiff base derivatives. The reactions of complexes 1 and 2 with one equiv of NaCH3C5H4 in THF provided the desired products LnL（CH3C5H4）CI（THF）.THF （Ln=Eu （3）; Sm （4）） in good isolated yields. These complexes were characterized by elemental analysis, IR spectra, and X-ray structural determination, in the case of complexes 3 and 4. The crystal data of complex 3 are monoclinic, P21/C space group, a=1.3370（2） nm, b=1.5190（2） nm, c=1.8910（3） nm, β=109.846（4）°, V=3.6125（8） nm^3, Z=4, Dc=1.416 mg/m^3,μ=1.847 mm^-1, F（000）=1584, R=0.0707, wR=0.1350. The crystal data of complex 4 are monoclinic, P21/c space group, a=1.3383（1） nm, b=1.5210（2） nm, c=1.8960（2） nm, β =109.878（3）°, V=3.6293（7） nm^3, Z=4, Dc=1.407 mg/m^3, μ=1.728 mm^-1, F（000）= 1580, R=0.0670, wR=0.1385.
基金This workis supported by the Science and Technology Development Project (Grant No.2004BA304B05-03) of the Chinese Ministry ofScience and Technology .
文摘The properties of soybean protein/poly（vinyl alcohol） （SP/ PVA） blended fibers subjected to wet heat treatment in hot water were measured. The structure of fibers was investigated by scanning electron microscope （SEM）, Fourier transform infrared （FTIR） spectroscopy, wide-angle X-ray diffraction （WXD） and differential scanning calorimetry （DSC）. The results show that the wet heat treatment above 100℃ has a great influence on the properties and structure of SP/PVA blended fibers. After the wet heat treatment at high temperature, the fibers exhibit the severe shrinking and yellowing, the great decrease in breaking strength and adhesive aggregation. The fibers show a broader main X-ray diffraction peak with the disappearance of minor diffraction peaks, a double DSC melting behavior with the peak temperatures of 215 and 233℃, and a weaker intensity of crystallization-sensitive absorbance peak of PVA component at 1 142 cm^-1. Therefore it is concluded that the wet heat treatment above 100℃ leads to a change in the crystalline structure of fibers and the scission and degradation of PVA macromolecular chains.
基金financially supported by the National Key R&D Program of China(2017YFD0600802).
文摘In this study,natural bamboo fiber was prepared combining chemical pretreatment with mechanical disc refining,opening,and carding.An orthogonal experiment was designed based on four factors and three levels;thereafter,the manufacturing process was optimized.The length,diameter,tensile strength,and elastic modulus of the bamboo fiber were determined,and the crystallinity and morphology of the fiber were analyzed using X-ray diffraction(XRD)and scanning electron microscopy(SEM).The results showed that the optimum parameters for the chemical pretreatment were a cooking temperature of 130℃,heating time of 2 h,NaOH dosage of 2%,and Na2SO3 dosage of 10%.The cooking yield of bamboo chips was 89.5%,and the carding yield of natural bamboo fiber was 43.0% under the optimum conditions.The length,diameter,tensile strength,and elastic modulus of the obtained fiber were 36.71 mm,0.285 mm,407 MPa,and 27.7 GPa,respectively.XRD analysis and SEM observations showed that the technology used in this study can produce bright and compact natural bamboo fibers with high crystallinity.
基金Supported by the National Natural Science Foundation of China under Grant No 61040061.
文摘Undoped and La-doped ZnS thin films are prepared by chemical bath deposition(CBD)process through the co-precipitation reaction of inorganic precursors zinc sulfate,thiosulfate ammonia and La_(2)O_(3).Composition of the 61ms is analyzed using an energy-dispersive x-ray spectroscopy(EDS).Absorption spectra and spectral tra.nsmitta.nces of the 61ms are measured using a double beam UV-VIS spectrophotometer(TU-1901).It is found that significant red shifts in absorption spectra and decrease in absorptivity are obtained with increasing lanthanum.Moreover,optical transmittance is increased as La is doped,with a transmittance of more than 80%for wavelength above 360 nm in La-doped ZnS thin 61ms.Compared to pure ZnS,the band gap decreases and flat-band potential positively shifts to quasi-metal for the La-doped ZnS.These results indicate that La-doped ZnS thin 6hns could be valuably adopted as transparent electrodes.
基金financially supported by the Special Scientific Research Fund for Public Service Sectors of Forestry(Grant No.201504603)Science and Technology Projects of Fujian Province(2014NZ003)the National Natural Science Foundation of China(Grant Nos.31370560,31170520)
文摘Wood has no inherent natural resistance against agents of biodegradation. We evaluated the effects of metal bath heat treatment(MBHT) on decay resistance and dimensional stability of Chinese parasol(Firmiana simplex) and Chinese fir(Cunninghamia lanceolata) wood. A low melting point alloy was used as heating medium in the treatment of the wood samples at 150, 180, and 210 °C for2, 4, and 8 h. Heat-treated and control samples were exposed to brown rot fungus(Poria placenta) and white rot fungus(Coriolus versicolor) for decay resistance testing and anti-swelling efficiency(ASE). The improved decay resistance with increase temperatures with low mass losses of 7.3 and 7.3% for F. simplex, and 3.9 and 3.6% for C.lanceolata at 210 °C for 8 h against Coriolus versicolor and Poria placenta, respectively. ASE indicated that MBHT contributed to improved dimensional stability of both wood species after treatment. Scanning electron micrograph results indicate that metal bath-treated samples showed strong decay resistance. Therefore, our approach to thermally modify wood should be explored to overcome the energy utilization by using low melting point alloy for the heat treatment of wood.
基金supported by the Science and Technology Support Project for the Twelfth Five-year Grant in China(Grant No.2015BAD14B05)
文摘As one of the main structural units in a building,a solid wood floor has significant strategic research value for low-carbon energy saving.Taking the production line of a solid larch wood floor as a case study,we assessed the environmental load during production based upon a life cycle assessment.Using GaBi 6.0 software,we analyzed the associated carbon sequestration during floor production,with the initial planting density serving as the disturbance factor in a modular analysis.The results indicated that the cutting and finishing steps have relatively intense,negative influences on the environment,whereas transportation,ripping,and trimming do not.Additionally,recycling biomass waste has the potential to reduce greenhouse gas emissions.When the initial planting density was 3.0×3.0 m,carbon sequestration was relatively high.Although the emissions of freshwater pollutants,volatile organic compounds,and fine particulate matter（matter with a 2.5-μm diameter） were comparatively high,the reduction of greenhouse gas emissions was still excellent at this planting density.
基金Project supported by the Doctoral Science Foundation of University of Jinan
文摘In order to improve the total-dose radiation hardness of the buried oxide of separation by implanted oxygen silicon- on-insulator wafers, nitrogen ions were implanted into the buried oxide with a dose of 1016 cm-2, and subsequent annealing was performed at 1100 ℃. The effect of annealing time on the radiation hardness of the nitrogen implanted wafers has been studied by the high frequency capacitance-voltage technique. The results suggest that the improvement of the radiation hardness of the wafers can be achieved through a shorter time annealing after nitrogen implantation. The nitrogen-implanted sample with the shortest annealing time 0.5 h shows the highest tolerance to total-dose radiation. In particular, for the 1.0 and 1.5 h annealing samples, both total dose responses were unusual. After 300-krad（Si） irradiation, both the shifts of capacitance-voltage curve reached a maximum, respectively, and then decreased with increasing total dose. In addition, the wafers were analysed by the Fourier transform infrared spectroscopy technique, and some useful results have been obtained.
基金the financial support from the Canada Research Chairs and NSERC CRD programthe Tianjin Municipal Science and Technology Commission(Grant No.12ZCZDGX01100)
文摘Cold caustic extraction has potential applications in the production of dissolving-grade pulps due to its ability to selectively remove hemicellulose from lignocellulosic materials. In this study,we demonstrate the conversion of paper-grade kraft pulp into dissolving pulp by a single-stage cold caustic extraction. Under the extraction conditions of 12 wt% NaOH lye,11% pulp consistency,a temperature of 35℃,and 2 h,a paper-grade softwood kraft pulp was purified to high-grade dissolving pulp with 97. 1% α-cellulose content,1. 2% pentosane content,and narrowed molecular weight distribution. The resulting extraction filtrate was concentrated by nano-filtration to obtain the hemicellulose content of 59. 0 g / L,while the permeate was a clear Na OH solution with 10. 9 wt% concentration. A process configuration was also proposed,integrating this cold caustic extraction process with existing pulp and paper production and multi-purpose utilization of the extraction filtrate.
文摘Silver nanoparticles with different morphologies were prepared in AgNO3 aqueous solution using nanocarbon as template medium and polymer surfactant as protecting agent in an ultrasonic field.The polymer surfactant polyvinylpyrrolidone(PVP)was self-prepared and used directly in aqueous solution form.The molecular weight of PVP was measured by viscosimeter.The crystalline phase,component,size,and morphology of the as-synthesized silver naoparticles were characterized by XRD,TEM,FTIR,and Laser Granularity Instrument.The results indicated that ultrasonic was the key factor to deoxidize Ag+ to be Ago,nanocarbon and polymer surfactants accelerated the deoxidization reaction course and controlled the agglomeration of freshly formed silver nanoparticles,the category of polymer surfactant had decisive effect on the morphology of as-synthesized nanoparticle.Well-defined dendrites silver nanoparticle could be attained when choosing PVP as surfactant in AgNO3 aqueous solution,while regular sphere silver nanoparticle could be synthesized in the presence of polyvinyl alcohol(PVA)surfactant.Moreover,the concentration of AgNO3 and ultrasonic action time also had obvious effect on the morphology of silver nanoparticle,low concentration of AgNO3 and long time of ultrasonic were not in favor of forming dendrite silver.
文摘Dragline,framework and cocoon silk fibers of Araneus Ventricosus were used for this study.To investigate the microstructure mechanisms of stress-strain behavior of spider silk,firstly,amino acid compositions were analyzed and molecular conformations and crystallinity were measured with Raman spectra and X-ray diffraction respectively.The results showed that there were more amino acids with large side groups and polar ones in spider silk than those of Bombyx silk,and the amino acid distribution varied with different spider silk.The molecular structures were mainly α-helix and β-sheet,and random coil and β-turn existed as well.The proportions and arrangement of these conformations of dragline silk were different from framework and cocoon silk fibers.Microstructure was one of important factors of excellent mechanical properties of spider silk.Crystallinity of spider silk was very low,which implied that the roles of crystal on spider silk were not as great as other protein fibers.
基金Natural Science Foundation of Jinlin Provine Education Depart ment(2006JYT01)
文摘Based on some assumptions, the numerical model of thermal distribution in solid state laser crystal pumped by pulsed laser diode is set up due to the pumped intensity distribution. Taking into account the property of YAG materials that varies with temperature, the transient temperature distribution of the laser crystal is calculated using finite element method on condition that K is a constant and a function of temperature. Then, the influence of the pumping parameters on the thermal effect in laser crystal is also discussed. This study is helpful to optimize the design of the diode side pumped solid state lasers.
