形状记忆合金驱动的连续跳跃柔性机器人

针对在复杂、狭窄的非结构化地形下跳跃机器人存在的着陆稳定性和运动连续性的问题,提出了一种形状记忆合金(shape memory alloy,简称SMA)智能材料驱动的柔性跳跃机器人,它具有轻质小型、结构简单及连续运动的优点。利用对称的折纸柔性身体减少着陆振动,保证着陆稳定;利用对称的双SMA弹簧拮抗系统实现弹性元件交替变形和储能释能的功能;建立了柔性机器人跳跃运动的理论模型,研究了关键结构尺寸对能量储存和跳跃性能的影响机制,并研制了一款尺寸为6 cm×4 cm×2.5 cm、质量为3.8 g的原理样机。实验结果表明:柔性机器人依靠SMA驱动能够实现跳跃触发和形态恢复,最大跳跃高度和远度分别为8.67 cm和18 cm,并且可以适应不同工作面。该机器人跳跃性能优越,控制顺序简单,可为非结构化地形下完成侦察探测工作奠定基础。     

增材制造设计(DfAM)下的金刚石晶格结构研究

基于机械零件的增材制造设计,用仿自然式方法设计了一种金刚石晶格结构,对晶胞相对密度和等效弹性模量建立了数学模型,并拟合得到二者关系式,一系列的仿真验证结果显示理论研究所得关系式具有一定的正确性;对金刚石晶格填充结构提出变密度假设,并用仿真和压缩试验的方法进行了验证,结果显示,填充单元密度以受力点为中心渐渐减小的变密度结构拥有更好的抗压性能,同时验证了本文得出的等效弹性模量数学模型具有一定的正确性和适用性.本研究结果可应用于承压机械零件的实体夹层填充,对机械零件进行应力匹配变密度设计,以达到机械结构轻量化的目标.     

基于度量学习的意图识别和槽填充方法

人机对话中小样本学习场景下的意图识别和槽填充,是自然语言处理的一个重要课题.本文采用基于度量学习的方法,通过计算query set中的样本与support set中样本的距离,寻找距离最近的类别样本作为分类标签,同时将两个任务联合进行训练,用以提升模型的效果.从实验结果中可以得出,本文提出的Fine-tune方法,对意图识别和槽填充任务都有一定的帮助和提升.胶囊网络在意图识别中也起到了一定的效果,可以帮助去除一部分无关信息,但对槽填充任务的帮助不明显;而任务自适应的投影网络,可以更好地将不同类的向量分开,提升了两个任务的性能.     

Colossal dielectric response and relaxation behavior in novel system of Zr4+ and Nb5+ co-substituted CaCu3Ti4O12 ceramics

In this work, we developed a novel system of isovalent Zr⁴⁺ and donor Nb⁵⁺ co-doped CaCu₃Ti₄O₁₂ (CCTO) ceramics to enhance dielectric response. The influences of Zr⁴⁺ and Nb⁵⁺ co-substituting on the colossal dielectric response and relaxation behavior of the CCTO ceramics fabricated by a conventional solid-phase synthesis method were investigated methodically. Co-doping of Zr⁴⁺ and Nb⁵⁺ ions leads to a significant reduction in grain size for the CCTO ceramics sintered at 1060 °C for 10 h. XRD and Raman results of the CaCu₃Ti_3.8-xZr_xNb_0.2O₁₂ (CCTZNO) ceramics show a cubic perovskite structure with space group Im-3. The first principle calculation result exhibits a better thermodynamic stability of the CCTO structure co-doped with Zr⁴⁺ and Nb⁵⁺ ions than that of single-doped with Zr⁴⁺ or Nb⁵⁺ ion. Interestingly, the CCTZNO ceramics exhibit greatly improved dielectric constant (~10⁵) at a frequency range of 10²–10⁵ Hz and at a temperature range of 20–210 °C, indicating a giant dielectric response within broader frequency and temperature ranges. The dielectric properties of CCTZNO ceramics were analyzed from the viewpoints of defect-dipole effect and internal barrier layer capacitance (IBLC) model. Accordingly, the immensely enhanced dielectric response is primarily ascribed to the complex defect dipoles associated with oxygen vacancies by co-doping Zr⁴⁺ and Nb⁵⁺ ions into CCTO structure. In addition, the obvious dielectric relaxation behavior has been found in CCTZNO ceramics, and the relaxation process in middle frequency regions is attributed to the grain boundary response confirmed by complex impedance spectroscopy and electric modulus.     

Bi-templated grain growth maximizing the effects of texture on piezoelectricity

Templated grain growth is beneficial for piezoelectric materials, the properties of which become the best in their single crystalline form. Nevertheless, a textured ceramic prepared by a templated grain growth technique often fails in exhibiting as good properties as expected in single crystals even with a high degree of orientation factor. Here, we propose a new strategy for maximizing texturing effect by suppressing the growth of untextured matrix grains. The textured ceramics made by our method, so-called bi-templated grain growth, are featured by ultrahigh piezoelectric properties (d₃₃ = ～1,031 pC/N, d?g = ～59,000, k_p = ～0.76). A special emphasis is on the achieved electric-field-induced strain of 0.13 % at 1 kV/mm, which is as high as that of single crystals. This work demonstrates that not only the degree of texture but also the coarsening of untextured matrix grains should be well-controlled to best exploit the templated grain growth technique.     

Optimization of sensitizer concentration for upconversion photoluminescence of Yb3+/Er3+: La10W22O81 nanophosphor rods

Yb³⁺/Er³⁺codoped La₁₀W₂₂O₈₁ (LWO) nanophosphor rods have been successfully synthesized by a facile hydrothermal assisted solid state reaction method, and their upconversion photoluminescence properties were systematically studied. X-ray diffraction patterns revealed that the nanophosphors have an orthorhombic structure with space group Pbcn (60). A microflowers-like morphology with irregular hexagonal nanorods was observed using field emission scanning electron microscopy for the Yb³⁺(2 mol%)/Er³⁺(2 mol%):LWO nanophosphor. The shape and size of the nanophosphor and the elements along with their ionic states in the material were confirmed by TEM and XPS studies, respectively. A green upconversion emission was observed in the Er³⁺: LWO nanophosphors under 980 nm laser excitation. A significant improvement in upconversion emission has been observed in the Er³⁺: LWO nanophosphors by increasing the Er³⁺ ion concentration. A decrease in the upconversion emission occurred due to concentration quenching when the doping concentration of Er³⁺ ions was greater than 2 mol%. An optimized Er³⁺(2 mol%): LWO nanophosphor exhibited a strong near infrared emission at 1.53 μm by 980 nm excitation. The green upconversion emission of Er³⁺(2 mol%): LWO was remarkably enhanced by co-doping with Yb³⁺ ions under 980 nm excitation because of energy transfer from Yb³⁺ to Er³⁺. The naked eye observed this upconversion emission when co-doping with 2 mol% Yb³⁺. In order to obtain the high upconversion green emission, the optimized sensitizer concentration of Yb³⁺ ions was found to be 2 mol%. The upconversion emission trends were studied as a function of stimulating laser power for an optimized sample. Moreover, the NIR emission intensity has also been enhanced by co-doping with Yb³⁺ ions due to energy transfer from Yb³⁺ to Er³⁺. The energy transfer dynamics were systematically elucidated by energy level scheme. Colorimetric coordinates were determined for Er³⁺ and Yb³⁺/Er³⁺: LWO nanophosphors. The energy transfer mechanism was well explained and substantiated by several fluorescence dynamics of upconversion emission spectra and CIE coordinates. The results demonstrated that the co-doped Yb³⁺(2 mol%)/Er³⁺(2 mol%): LWO nanophosphor material is found to be a suitable candidate for the novel upconversion photonic devices.     

Targeted editing of intronic-splicing silencer enhancement of SMN2 Exon 7 inclusion by CRISPR/Case 9

Spinal muscular atrophy (SMA) is an autosomal recessive hereditary neuromuscular disease. Exon 7 and 8 of survival of motor neuron 1 (SMN1) gene or only exon 7 homology deletion leads to the failure to produce a full-length SMN gene. The copy number of SMN2 gene with high homology of SMN1 affects the degree of disease and was the target gene for targeting therapy, in which splicing silencer in intron 7 was the key to suppress the inclusion of exon 7. In this study, we projected to use CRISPR/Case 9 for the targeted editing of intronic-splicing silencer (ISS) sequence to promote the inclusion of SMN2 exon 7 and increase the production of SMN2 full-length (FL) gene expression. It happens that there was a protospacer adjacent motif (PAM) at one end of the ISS sequence according to the design of sgRNA. The recombinant vector of sgRNA HSMN2 CRISPR/Case 9 was constructed and transfected into HEK293 cells. Sequencing results showed that the ISS sequence could be edited accurately and targeting in the predicted direction, in which deleting small fragments, inserting small amounts and mutation. Quantitative analysis of RT-PCR products by restriction enzyme of DdeI digestion showed that the FL of SMN2 increased by 8% (P < 0.05). In the primary cultured chondrocytes of SMA mice, in which sgRNA HSMN2 CRISPR/Case9 recombinant vector transfection could increase the SMN2 FL gene by 23% (P < 0.05) and significantly improve SMN protein levels (P < 0.05). CRISPR/Case 9 is an effective tool for gene editing and therapy of hereditary diseases, but it is rarely reported in the treatment of SMA diseases. This study shows that CRISPR/Case 9 was first used for the precision target of ISS sequence editing, which can effectively promote the production of SMN2 FL gene expressions, in which there was an important clinical reference value.     

川中地区侏罗系沙溪庙组致密气处理和解释关键技术与应用

四川盆地蕴含丰富的致密砂岩气资源，近期利用高精度三维资料开展侏罗系沙溪庙组河道砂体勘探取得突出成效。沙溪庙组河道砂体具有横向变化快、储层非均质性强的特点，因此提高河道砂体的边界识别及其含气性预测精度是致密气地震勘探的关键。通过开展AVO特征低频保护的“六分法”（分类、分频、分时、分域、分步和分区）高保真叠前去噪、近地表Q补偿和OVT域叠前时间偏移等技术攻关，形成了一套针对川中地区侏罗系沙溪庙组致密气藏的“双高”（高保真、高分辨率）地震处理技术，并创新应用“双亮点”属性及多波、多分量砂体含气性地震预测等解释技术，提高了含气砂体预测精度。该技术系列在川中沙溪庙组致密气预测应用成果显著，地震数据频带得到了拓宽，低频信息更加丰富，资料信噪比明显提升，河道边界及其含气性预测的精度大幅提高，钻井成功率超过83%，应用成果有力地支撑了该地区沙溪庙组致密气的增储上产。     

Enhanced the photocatalytic activity of B–C–N–TiO2 under visible light:Synergistic effect of element doping and Z-scheme interface heterojunction constructed with Ag nanoparticles

In order to enhance the photocatalytic activity of TiO₂ under visible light, Ag nanoparticles were introduced into tridoped B–C–N–TiO₂ (TT) catalyst by photoreduction deposition. Ag/B–C–N–TiO₂ (ATT) catalysts with the functions of reducing band gap and carrier recombination were prepared. At the same time, the effect of the amount of Ag on the photocatalytic performance of ATT catalyst was investigated. Through XRD, XPS, PL and other characterization methods, the (211)/(101)/Ag interface heterojunction mechanism similar to the traditional Z-scheme heterojunction was proposed. The intervention of Ag nanoparticles changed the P–N interface heterojunction between (211)/(101) to the (211)/(101)/Ag Z-scheme interface heterojunction. The results show that ATT catalyst exhibits the highest photocatalytic activity when the molar amount of Ag is 0.005% with the MB degradation rate of the ATT catalyst (0.01707 min^?1), which is 14.59 times of TiO₂ (0.00117 min^?1) and 2.02 times of TT (0.00847 min^?1). In addition, the four cycles efficiencies of ATT for MB degradation were all above 94.00%.This study reveals the possibility of construction of Z-scheme heterojunctions between precious metal nanoparticles and different interfaces of TiO₂, and provides a reference for the construction of Z-scheme interface heterojunctions.