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.     

Effect of phosphogypsum on saline-alkalinity and aggregate stability of bauxite residue

A column experiment was conducted to investigate the effect of phosphogypsum (PG) on the saline- alkalinity, and aggregate stability of bauxite residue. Results showed that: with increasing leaching time, the concentrations of saline-alkali ions decreased while the concentration increased in bauxite residue leachate; compared with CK (control group) treatment, pH, electric conductivity (EC), exchangeable sodium percentage (ESP), sodium absorption ratio (SAR), and exchangeable Na⁺ content of bauxite residue were reduced following PG treatment; average particle sizes in aggregates following CK and PG treatments were determined to be 155 and 193 nm, respectively. SR-μCT test results also confirmed that bauxite residue following PG treatment acquired larger aggregates and larger pore diameter. These results indicate that the PG treatment could significantly modulate the saline-alkalinity, and simultaneously enhance aggregate stability of bauxite residue, which provides a facile approach to reclaim bauxite residue disposal areas.     

Biodegradable Polymeric Nanoparticles Containing an Immune Checkpoint Inhibitor (aPDL1) to Locally Induce Immune Responses in the Central Nervous System

Immunotherapy is an efficient approach to clinical oncology. However, the immune privilege of the central nervous system (CNS) limits the application of immunotherapeutic strategies for brain cancers, especially glioblastoma (GBM). Tumor resistance to immune checkpoint inhibitors is a further challenge in immunotherapies. To overcome the immunological tolerance of brain tumors, a novel multifunctional nanoparticle (NP) for highly efficient synergetic immunotherapy is reported. The NP contains an anti-PDL1 antibody (aPDL1), upconverting NPs, and the photosensitizer 5-ALA; the surface of the NP is conjugated with the B1R kinin ligand to facilitate transport across the blood-tumor-barrier. Upon irradiation with a 980 nm laser, 5-ALA is transformed into protoporphyrin IX, generating reactive oxygen species. Photodynamic therapy (PDT) further promotes intratumoral infiltration of cytotoxic T lymphocytes and sensitizes tumors to PDL1 blockade therapy. It is demonstrated that combining PDT and aPDL1 can effectively suppress GBM growth in mouse models. The proposed NPs provide a novel and effective strategy for boosting anti-GBM photoimmunotherapy.     

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.     

基于多维异构特征与反馈感知调度的SDN内生安全控制平面

为弥补现有研究在软件定义网络(Software-Defined Networking,SDN)控制平面未知漏洞防御方面的空白,本文提出了一种基于多维异构特征与反馈感知调度的内生安全控制平面的设计方案.该方案以"冗余、异构和动态"为切入点,通过组合执行体冗余集构建策略、多维异构元素着色策略和动态反馈感知调度策略,有效增加SDN控制平面对攻击者所呈现的执行体时空不确定性(逆转攻防不对称性).相关仿真结果表明该方案可以收敛全局执行体数目、增加执行体之间的多维异构度并降低系统全局失效率.     

Mechanical properties and wear behavior of Tin+1(Al,A)Cn (A = Ga,In, Sn,n = 1, 2) via quasi-high-entropy of single atomic thick A layer

The strengthening method of multi-element M-site solid solution is a common approach to improve mechanical properties of MAX phase ceramic. However, the research on capability of multi-element A-site solid solution to improve mechanical properties has rarely been reported. Thereupon, quasi-high-entropy MAX phase ceramic bulks of Ti₂(Al_1?xA_x)C and Ti₃(Al_1?xA_x)C₂ (A = Ga, In, Sn, x = 0.2, 0.3, 0.4) were successfully synthesized by in situ vacuum hot pressing via multi-elements solid solution. The multi-elements solid solution in single-atom thick A layer was confirmed by X-ray diffraction and X-ray photoelectron spectroscopy as well as by energy dispersive X-ray spectroscopy mappings. Effects of doped multi-elements contents on the phase, microstructure, mechanical properties, and high temperature tribological behaviors were studied. Results demonstrated that the Vickers hardness, anisotropic flexural strength, fracture toughness, and tribological properties of Ti–Al–C based MAX ceramics could be remarkably improved by constitution of quasi-high-entropy MAX phase in A layers. Moreover, the strengthening and wear mechanisms were also discussed in detail. This method of multi-element solid solution at A-site provides new way to enhance mechanical properties of other MAX phase ceramics.     

PUL-Mediated Plant Cell Wall Polysaccharide Utilization in the Gut Bacteroidetes

Plant cell wall polysaccharides (PCWP) are abundantly present in the food of humans and feed of livestock. Mammalians by themselves cannot degrade PCWP but rather depend on microbes resident in the gut intestine for deconstruction. The dominant Bacteroidetes in the gut microbial community are such bacteria with PCWP-degrading ability. The polysaccharide utilization systems (PUL) responsible for PCWP degradation and utilization are a prominent feature of Bacteroidetes. In recent years, there have been tremendous efforts in elucidating how PULs assist Bacteroidetes to assimilate carbon and acquire energy from PCWP. Here, we will review the PUL-mediated plant cell wall polysaccharides utilization in the gut Bacteroidetes focusing on cellulose, xylan, mannan, and pectin utilization and discuss how the mechanisms can be exploited to modulate the gut microbiota.     

Phase,domain, and microstructures in Sr2+ substituted low-temperature sintering PZT-based relaxor ferroelectrics

The Ag-Pd internal electrode of multilayer piezoelectric ceramics needs to be sintered below 1000°C, and lead wires and components need to be welded with lead-free solder at 260°C. PNN–PMW–PZT–xSr piezoelectric ceramics with high Curie temperature (T_c > 260°C) were synthesized at a low sintering temperature (960°C) to meet the requirements of multilayer piezoelectric devices. The relationship between structures (phase, domain, and microstructures) and electrical properties (piezo/ferroelectric properties, and dielectric relaxation) in the Sr²⁺ substituted ceramics was investigated. Rietveld refinement and Raman spectra show that Sr²⁺ substitution can cause the phase change and increase the force constant of [BO₆] octahedron. The piezoelectric response increases with increasing the content of the tetragonal phase (CTP) in the rhombohedral-tetragonal (R-T) coexisted ceramics. The ceramics with 0.6 mol% Sr²⁺ substitution have minimum activation energy for domain wall movement (E_a) of 0.0362 eV which favors the formation of nanometer-sized domains, and possess excellent electrical properties (d₃₃ = 623 pC/N, d₃₃^* =783 pm/V, T_c =295°C). The higher the CTP, the lower the E_a. The lower E_a favors the rotation of polarization direction and extension, and is beneficial to the generation of the nanometer-size domains, resulting in high piezoelectric properties.