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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

Keywords： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading capacity    

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Atmospheric heterogeneous reaction of chlorobenzene on mineral -FeO particulates: a chamber experiment

Frontiers of Environmental Science & Engineering 2023, Volume 17, Issue 11, doi: 10.1007/s11783-023-1734-9

Abstract:

● Photochemical conversion of chlorobenzene (CB) on α-Fe2O3 was evaluated.

Keywords： Photochemical conversion     Chlorobenzene     α-Fe2O3     PCDD/Fs     Mineral particulate    

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Biaxial tensile-compressive experiment of concrete at high temperatures

SONG Yupu, ZHANG Zhong, QING Likun, YU Changjiang

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 1,   Pages 94-98 doi: 10.1007/s11709-007-0009-z

Abstract: Biaxial tension-compression experiments of concrete of five stress ratios at high temperatures were carried out using the large static-dynamic triaxial test system in the State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology. The stress ratios s1/s3 are 0, 0.1, 0.25, 0.50, and 0.75. The temperatures are 20vH, 200vH, 300vH, 500vH, 600vH. The mechanical behavior of concrete under biaxial tension-compression at high temperatures is analyzed. It is found that both the tensile strength and strain diminished with the increase in temperature under each stress ratio. Based on the test results, the relationship between tensile strengths and stress ratios and temperature is proposed. In addition, the failure criterion of concrete under biaxial stress state of tension-compression at high temperatures is established.

Keywords： increase     Offshore Engineering     temperature     relationship     addition    

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Numerical simulation and experiment research of radiation performance in a dish solar collector system

Yong SHUAI, Xinlin XIA, Heping TAN

Frontiers in Energy 2010, Volume 4, Issue 4,   Pages 488-495 doi: 10.1007/s11708-010-0007-z

Abstract: The Monte Carlo ray-tracing method is applied and coupled with optical properties to predict the radiation performance of solar concentrator/cavity receiver systems. Several different cavity geometries are compared on the radiation performance. A flux density distribution measurement system for dish parabolic concentrators is developed. The contours of the flux distribution for target placements at different distances from the dish vertex of a solar concentrator are taken by using an indirect method with a Lambert and a charge coupled device (CCD) camera. Further, the measured flux distributions are compared with a Monte Carlo-predicted distribution. The results can be a valuable reference for the design and assemblage of the solar collector system.

Keywords： Monte Carlo method     solar energy     radiation performance     cavity receiver    

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Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 6,   Pages 1350-1362 doi: 10.1007/s11709-019-0559-x

Abstract: In this study, systematic centrifuge experiments and numerical studies are conducted to investigate the effect of shock loads due to an underwater explosion on the dynamic responses of an air-backed steel plate. Numerical simulations with three different models of pressure time history generated by underwater explosion were carried out. The first model of pressure time history was measured in test. The second model to predict the time history of shock wave pressure from an underwater explosion was created by Cole in 1948. Coefficients of Cole’s formulas are determined experimentally. The third model was developed by Zamyshlyaev and Yakovlev in 1973. All of them are implemented into the numerical model to calculate the shock responses of the plate. Simulated peak strains obtained from the three models are compared with the experimental results, yielding average relative differences of 21.39%, 45.73%, and 13.92%, respectively. The Russell error technique is used to quantitatively analyze the correlation between the numerical and experimental results. Quantitative analysis shows that the simulated strains for most measurement points on the steel plate are acceptable. By changing the scaled distances, different shock impulses were obtained and exerted on the steel plate. Systematic numerical studies are performed to investigate the effect of the accumulated shock impulse on the peak strains. The numerical and experimental results suggest that the peak strains are strongly dependent on the accumulated shock impulse.

Keywords： underwater explosion     centrifuge experiment     shock load     dynamic response     accumulated shock impulse    

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Parameter for judging reactivity of coal and coke

HE Hongzhou, LUO Zhongyang, CEN Kefa

Frontiers in Energy 2008, Volume 2, Issue 3,   Pages 354-358 doi: 10.1007/s11708-008-0052-z

Abstract: as the quotient of the maximum weight loss rate in non-isothermal thermogravimetric analysis (TGA) experimentThe heating rate selected in TGA experiment has no effect on the judgment.

Keywords： thermogravimetric analysis     specific maximum     different lithotype     experiment     TGA experiment    

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How did Archimedes discover the law of buoyancy by experiment?

Hidetaka KUROKI

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 1,   Pages 26-32 doi: 10.1007/s11465-016-0368-z

Abstract: Through these measurements, he reached the discovery of the law of buoyancy directly by experiment.

Keywords： Archimedes’ principle     buoyancy     specific gravity     Eureka     Vitruvius     displaced water     balance     floating body    

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Analysis of the Effect of Water and Fertilizer on Crop Production in Farmland of Arid Zone in Northern China

Gao Yajun,Li Shengxiu

Strategic Study of CAE 2002, Volume 4, Issue 7,   Pages 74-79

Abstract: It was showed that the water effect and fertilizer effect on crop production were related to experiment

Keywords： effect of water and N fertilizer     arid area in Northern China     field experiment     simulated experiment    

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Analysis and experiment on structure parameters for an energy reclaiming suspension

CHEN Shi‘an, HE Ren, LU Senlin

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 2,   Pages 200-204 doi: 10.1007/s11465-008-0024-3

Abstract: An energy reclaiming suspension is proposed to reclaim vibration energy in the suspension. To study its riding performance and reclaiming energy performance, a hydraulic energy reclaiming device prototype is produced and its mechanical behavior is analyzed and tested according to the hydraulic theory. Theoretical analysis shows that mechanical behavior of the energy reclaiming device is embodied by a viscidity damping parameter and an analogous coulomb damping parameter determined by its structure; their expressions are obtained. Experimental investigation shows that theoretical predictions agree with test results.

Keywords： Experimental investigation     analogous coulomb     hydraulic     performance     suspension    

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Analysis and experiment of controllability of magnetorheological fluids based on micro-pipeline

Yongqing SU, Yikuan SONG, Jiguang YUE

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 339-344 doi: 10.1007/s11465-009-0048-3

Abstract: The controllability of the magneto-rheological fluid (MRF) flowing through a micro-pipeline is analyzed. The coupled formulas for MRF are deduced by analyzing the property of the flow field and magnetic field. Then, the relationship between the flow speed of MRF and the special shear stress under the effect of the magnetic field is founded. The model of the MRF and micro-pipeline is established by using multi-physics software of Comsol, the curve of - in an ideal condition is attained by modifying parameters, and by adding the boundary condition of the model. This paper provides a theoretical proof of the controllability of MRF flowing through the micro-pipeline and explores MRF’s application on the micro-drive and control field.

Keywords： Magneto-rheological fluids (MRF)     micro-pipeline     coupled model     multi-physics simulation    

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Field experiment on biological contact oxidation process to treat polluted river water in the Dianchi

Lu LI, Shuguang XIE, Hui ZHANG, Donghui WEN

Frontiers of Environmental Science & Engineering 2009, Volume 3, Issue 1,   Pages 38-47 doi: 10.1007/s11783-009-0007-6

Abstract: In this study two types of biological contact oxidation processes (BCOP), a step-feed (SBCOP) unit and an inter-recycle (IBCOP) unit, were designed to investigate the treatment of heavily polluted river water. The Daqing River, which is the largest pollutant contributor to the Dianchi Lake, one of the most eutrophic freshwater lakes in China, was taken for the case study. It was found that the SBCOP had higher adaptability and better performance in the reduction of COD, TN, and TP, which made it applicable for the treatment of polluted river water entering the Dianchi Lake. Nitrification rate was observed to be greatly affected by the influent temperature. During each season, the nitrification in the SBCOP was higher than that in the IBCOP. TN removal efficiency in the SBCOP was higher than that in the IBCOP during the winter and spring but poorer during the summer, possibly due to the inhibition of denitrification by higher dissolved oxygen level in the summer. Moreover, symbiotic algae-bacteria growth may be conducive to the removal of pollutants.

Keywords： step-feed biological contact oxidation process (SBCOP)     inter-recycle biological contact oxidation process (IBCOP)     river water     removal efficiency     nitrogen transformation     the Dianchi Lake watershed    

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Analysis and experiment on deformation of sheet metal by laser shock wave

YANG Chao-jun, ZHANG Yong-kang, ZHOU Jian-zhong, DU Jian-jun, HUANG Shu, FENG Ai-xin, ZHANG Lei-hong, NI Ming-xiong

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 4,   Pages 448-451 doi: 10.1007/s11465-006-0056-5

Abstract: The experiment is also validated.

Keywords： structural     deforming     experiment     composite     mechanism    

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Simulation experiment of pumped sand on immersed tunnel

Zheng Aiyuan,Tan Zhongsheng,Li Zhiguo

Strategic Study of CAE 2009, Volume 11, Issue 7,   Pages 81-85

Abstract:

Based on the similarity theory and simulation experiment, main constructionThe following items related with the simulation experiment are introduced, which include the model design, experiment process, important points for attention and the technical requirements.A large of the immediate data is obtained by the experiment.The achievement of the experiment can be used to provide reference for the future engineering construction

Keywords： immersed tunnel     foundation pumped sand     simulation experiment    

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River Chief System (RCS): An experiment on cross-sectoral coordination of watershed governance

Longfei Wang, Jiaxin Tong, Yi Li

Frontiers of Environmental Science & Engineering 2019, Volume 13, Issue 4, doi: 10.1007/s11783-019-1157-9

Abstract:

The trans-regional characteristics of watershed governance produce more problems beyond the capacity of each individual water-related department, leading to the fragmentation of watershed management. The River Chief System (RCS) has experienced swift developments over the past decade in China by appointing the local government heads as river chiefs. RCS works efficiently in the short-term due to its superiority in the inclusion of clear responsibility, authority, and multi-sectoral collaboration. However, the characteristics of the authority-based vertical coordination of the hierarchical system remain unchanged, and therefore the problems of organizational logic and the responsibility dilemma still exist. Tasks including perfecting of laws, integrated watershed management, and public participation still need to be completed. RCS reflects the routine and characteristics of the migration of national governance, and as such provides new insights for other developing countries in the design of river management systems.

Keywords： River Chief System     Watershed governance     Cross-sectoral coordination     Environmental protection    

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Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool

JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 235-238 doi: 10.1007/s11465-007-0041-7

Abstract: This paper analyzed the inverse kinematics for the new Parallel rotate slider- axes (PRS-) style hybrid machining tool and educed the five axes linkage inverse kinematics transform formula on the basis of the coordinates of the and virtual axes. The program for the PRS-XY style hybrid machining tool in accordance with the program manner for the common numerical control (NC) machine tool was made. The results of the experiments prove that the inverse kinematics transform formula is correct.

Keywords： numerical     accordance     transform formula     virtual     slider-    

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Title Author Date Type Operation

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Journal Article

Atmospheric heterogeneous reaction of chlorobenzene on mineral -FeO particulates: a chamber experiment

Journal Article

Biaxial tensile-compressive experiment of concrete at high temperatures

SONG Yupu, ZHANG Zhong, QING Likun, YU Changjiang

Journal Article

Numerical simulation and experiment research of radiation performance in a dish solar collector system

Yong SHUAI, Xinlin XIA, Heping TAN

Journal Article

Centrifuge experiment and numerical analysis of an air-backed plate subjected to underwater shock loading

Zhijie HUANG, Xiaodan REN, Zuyu CHEN, Daosheng LING

Journal Article

Parameter for judging reactivity of coal and coke

HE Hongzhou, LUO Zhongyang, CEN Kefa

Journal Article

How did Archimedes discover the law of buoyancy by experiment?

Hidetaka KUROKI

Journal Article

Analysis of the Effect of Water and Fertilizer on Crop Production in Farmland of Arid Zone in Northern China

Gao Yajun,Li Shengxiu

Journal Article

Analysis and experiment on structure parameters for an energy reclaiming suspension

CHEN Shi‘an, HE Ren, LU Senlin

Journal Article

Analysis and experiment of controllability of magnetorheological fluids based on micro-pipeline

Yongqing SU, Yikuan SONG, Jiguang YUE

Journal Article

Field experiment on biological contact oxidation process to treat polluted river water in the Dianchi

Lu LI, Shuguang XIE, Hui ZHANG, Donghui WEN

Journal Article

Analysis and experiment on deformation of sheet metal by laser shock wave

YANG Chao-jun, ZHANG Yong-kang, ZHOU Jian-zhong, DU Jian-jun, HUANG Shu, FENG Ai-xin, ZHANG Lei-hong, NI Ming-xiong

Journal Article

Simulation experiment of pumped sand on immersed tunnel

Zheng Aiyuan,Tan Zhongsheng,Li Zhiguo

Journal Article

River Chief System (RCS): An experiment on cross-sectoral coordination of watershed governance

Longfei Wang, Jiaxin Tong, Yi Li

Journal Article

Inverse kinematics analysis and numerical control experiment for PRS-XY style hybrid machining tool

JIA Dongyong, ZHANG Jianmin, SUN Hongchang, NIU Zhigang

Journal Article