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51.
面向草莓抓取的气动四叶片软体抓手研制 总被引:1,自引:0,他引:1
农林业中果蔬的自动化采摘需求日趋强烈,末端抓手是实现无损采摘的关键。传统的末端抓手以刚性结构居多,现有的各种柔性抓手也存在抓取力不足、包覆性不佳等缺点。本文以草莓的无损采摘为研究对象,提出将草莓外部轮廓曲线作为设计曲线,设计了一种新型气动四叶片软体抓手。首先,对软体抓手的结构做仿真优化,提出一种安全地附着在目标物表面的设想。然后,在进行草莓表面的最小破坏应力试验的基础上,测试了软体抓手的末端力,验证了其实现无损抓取的可行性。再次,利用动态捕捉技术,研究了软体抓手叶面的弯曲变形规律。最后,选择使用弧线型气体通道的软体抓手进行了草莓抓取测试,结果证明了气动四叶片软体抓手可以实现草莓的无损抓取,抓取成功率达90%,破损率为2%,表明所研制的四叶片软体抓手用于草莓抓取时具有良好的稳定性和实用性,可用于草莓采摘的末端执行器。本研究也可为其他易损果蔬的采摘技术提供理论基础和技术支撑。 相似文献
52.
Chuangang Yao Jixing Yang Haixia Zhang Sigeng Chen Jian Meng Kedi Cai 《Ceramics International》2021,47(17):24589-24596
Bismuth doped La2-xBixNiO4+δ (x = 0, 0.02 and 0.04) oxides are investigated as SOFC cathodes. The effects of Bi doping on the phase structure, thermal expansion, electrical conduction behavior as well as electrochemical performance are studied. All the samples exist as a tetragonal Ruddlesden-Popper structure. Bi-doped LBNO-0.02 and LBNO-0.04 have good chemical and thermal compatibility with LSGM electrolyte. The average TEC over 20–900°С was 13.4 × 10?6 and 14.2 × 10?6 K?1 for LBNO-0.02 and LBNO-0.04, respectively. The electrical conductivity was decreasing with the rise of Bi doping content. EIS measurement indicates Bi doping can decrease the ASR values. At 750 °C, the obtained ASR for LBNO-0.04 is 0.18 Ωcm2, which is 56% lower than that of the sample without Bi doping, suggesting Bi doping is beneficial to the electrochemical catalytic activity of LBNO cathodes. 相似文献
53.
Jiajia Ye Xuting Li Guang Xia Guanghao Gong Zhiqiang Zheng Chuanzhong Chen Cheng Hu 《材料科学技术学报》2021,77(18):100-107
We report for the first time a Na-ion battery anode material composed of P-doped CoSe2 nanoparticles(P-CoSe2)with the size of 5-20 nm that are uniformly embed in a 3D porous honeycomb-like carbon network.High rate capability and cycling stability are achieved simultaneously.The honeycomb-like carbon network is rationally designed to support high electrical conductivity,rapid Na-ion diffusion as well as the accommodation of the volume expansion from the active P-CoSe2 nanoparticles.In particular,heteroatom P-doping within CoSe2 introduces stronger P-Co bonds and additional P-Se bonds that signif-icantly improve the structure stability of P-CoSe2 for highly stable sodiation/desodiation over long-term cycling.P-doping also improves the electrical conductivity of the CoSe2 nanoparticles,leading to highly elevated electrochemical kinetics to deliver high specific capacities at high current densities.Benefiting from the unique nanostructure and atomic-level P-doping,the P-CoSe2(2∶1)/C anode delivers an excel-lent cycle stability with a specific capacity of 206.9 mA h g-1 achieved at 2000 mA g-1 after 1000 cycles.In addition,this material can be synthesized using a facile pyrolysis and selenization/phosphorization approach.This study provides new opportunities of heteroatom doping as an effective method to improve the cycling stability of Na-ion anode materials. 相似文献
54.
Crystallographic characteristics and microwave dielectric properties of Ni-modified MgTa2O6 ceramics
Liang Shi Xueying Wang Rui Peng Gang Wang Cheng Liu Xiaolei Shi Dainan Zhang Huaiwu Zhang 《Ceramics International》2021,47(16):22514-22521
Ni2+ modified MgTa2O6 ceramics with a trirutile phase and space group P42/mnm were obtained. The correlations between crystallographic characteristics and microwave dielectric performance of MgTa2O6 ceramics were systematically studied based on the chemistry bond theory (PVL theory) for the first time. The results indicate that the introduction of Ni2+ causes a change in polarizability and the Mg–O bond ionicity, which contributes to the variation of dielectric constant. Moreover, the lattice energy, and packing fraction, full width at half maximum of the Raman peak of Ta–O bond, as the quantitative characterization of crystallographic parameters, regulate the dielectric loss of MgTa2O6 ceramics in GHz frequency band. In addition, the study of sintering behavior shows that the densification and micromorphology are the crucial factors affecting the microwave dielectric performance. Typically, Ni2+ doping on the A-site of MgTa2O6 can effectively promote the Q × f values to 173,000 GHz (at 7.43 GHz), which ensures its applicability in 5G communication technology. 相似文献
55.
Among various carbon materials, diamond stands out due to excellent physical and chemical properties. In this work, we designed Dia@SiO2@Ag composites combining diamond micropowder and Ag nanoparticles by a simple chemical method and obtained stable substrate for surface enhanced Raman scattering (SERS) owing to its high surface-to-volume ratio, low density, as well as close bond between diamond and Ag. As-prepared Dia@SiO2@Ag presented high activity to detect crystal violet and rhodamine 6G molecules, which was demonstrated by significantly enhanced SERS spectra and high enhancement factor values (108-109). Moreover, Dia@SiO2@Ag also showed desired sensitivity, which was investigated by detection limit. Therefore, our study provided more theoretical support and broadened the functional applications of diamond, particularly in Raman detection. 相似文献
56.
Liang Shi Dainan Zhang Rui Peng Cheng Liu Xiaolei Shi Xueying Wang Huaiwu Zhang 《Journal of the European Ceramic Society》2021,41(11):5526-5530
Mg(1-x)ZnxTa2O6 (x = 0.00?0.08) dielectric ceramics were synthesized via the traditional solid-state reaction method. We used XRD and Rietveld refinement to demonstrate that a pure Mg(1-x)ZnxTa2O6 phase with trirutile structure was formed. Zn2+ substitution helped to decrease the Raman full width at half width of the A1g mode at 703 cm?1, which resulted in an increase in the order and rigidity of the TaO6 octahedron, this in turn contributed to improving the Q×f values. Additionally, the introduction of Zn2+ significantly promoted grain growth and increased the dense, and the molecular polarizability, these factors lead to a higher permittivity. Moreover, enhanced Ta-O bond energy resulted in a more stable TaO6 octahedron in the Mg(1?x)ZnxTa2O6 system, which contributed to enhanced τf values via substitution of Zn2+ doped on the A-site. Correspondingly, the microwave dielectric properties were significantly improved for 0.04-doped samples, obtaining: εr = 27, Q × f = 185,000 GHz (at 7.47 GHz), τf =32 ppm/°C. 相似文献
57.
Longbang Qing Yuehua Cheng Ru Mu 《Fatigue & Fracture of Engineering Materials & Structures》2019,42(11):2533-2543
Based on theoretical analysis and numerical simulation, the impact of steel fibres on the stress intensity factor (SIF) at the crack tip for cementitious composite was studied. The enhanced toughness of steel fibre reinforced cementitious composite (SFRC) in resisting cracks was explained by the decrement of SIF caused by steel fibre inclusions at the crack tip of the composite. The equivalent initial fracture toughness was used to characterize the crack initiation of SFRC. A simplified method for determining the of SFRC was proposed based on a linear regression method. Fracture tests were conducted on three‐point bending notched beams with different steel fibre volume fractions and specimen sizes to study the crack initiation behaviour of aligned steel fibre reinforced cementitious composite (ASFRC). of ASFRC was calculated, and the size effect of was analysed. The results showed that slightly increased with the steel fibre volume fraction and gradually became stable. For the tested specimens, whose heights varied between 40 and 100 mm, the specimen size had little impact on the . 相似文献
58.
Basins with various mineral resources coexisting and enriching often occupy an important strategic position. The exploration of various mineral resources is repetitive at present due to unshared data and imperfect management mechanism. This situation greatly increases the cost of energy exploitation in the country. Traditional data-sharing mode has several disadvantages, such as high cost, difficulty in confirming the right of data, and lack of incentive mechanism, which make achieving real data sharing difficult. In this paper, we propose a data-sharing mechanism based on blockchain and provide implementation suggestions and technical key points. Compared with traditional data-sharing methods, the proposed data-sharing mechanism can realize data sharing, ensure data quality, and protect intellectual property. Moreover, key points in the construction are stated in the case study section to verify the feasibility of the data-sharing system based on blockchain proposed in this paper. 相似文献
59.
Shibo Lv Yuyang Miao Dr. Dapeng Liu Prof. Fengling Song 《Chembiochem : a European journal of chemical biology》2020,21(15):2098-2110
Photothermal therapy (PTT) has attracted great attention due to its noninvasive and effective use against cancer. Various photothermal agents (PTAs) including organic and inorganic PTAs have been developed in the last decades. Organic PTAs based on small-molecule dyes exhibit great potential for future clinical applications considering their good biocompatibility and easy chemical modification or functionalization. In this review, we discuss the recent progress of organic PTAs based on small-molecule dyes for enhanced PTT. We summarize the strategies to improve the light penetration of PTAs, methods to enhance their photothermal conversion efficiency, how to optimize PTAs’ delivery into deep tumors, and how to resist photobleaching under repeated laser irradiation. We hope that this review can rouse the interest of researchers in the field of PTAs based on small-molecule dyes and help them to fabricate next-generation PTAs for noninvasive cancer therapy. 相似文献
60.