查看更多>>摘要：In this work,we present a reconfigurable data glove design to capture different modes of human hand-object interactions,which are critical in training embodied artificial intelligence(Al)agents for fine manipulation tasks.To achieve various downstream tasks with distinct features,our reconfigurable data glove operates in three modes sharing a unified backbone design that reconstructs hand gestures in real time.In the tactile-sensing mode,the glove system aggregates manipulation force via customized force sensors made from a soft and thin piezoresistive material;this design minimizes interference during complex hand movements.The virtual reality(VR)mode enables real-time interaction in a physically plausible fashion:A caging-based approach is devised to determine stable grasps by detecting collision events.Leveraging a state-of-the-art finite element method,the simulation mode collects data on fine-grained four-dimensional manipulation events comprising hand and object motions in three-dimensional space and how the object's physical properties(e.g.,stress and energy)change in accordance with manipulation over time.Notably,the glove system presented here is the first to use high-fidelity simulation to investigate the unobservable physical and causal factors behind manipulation actions.In a series of experiments,we characterize our data glove in terms of individual sensors and the overall sys-tem.More specifically,we evaluate the system's three modes by ① recording hand gestures and associ-ated forces,② improving manipulation fluency in VR,and ③ producing realistic simulation effects of various tool uses,respectively.Based on these three modes,our reconfigurable data glove collects and reconstructs fine-grained human grasp data in both physical and virtual environments,thereby opening up new avenues for the learning of manipulation skills for embodied AI agents.
查看更多>>摘要：Chemical resistant textiles are vital for safeguarding humans against chemical hazards in various settings,such as industrial production,chemical accidents,laboratory activities,and road transportation.However,the ideal integration of chemical resistance,thermal and moisture management,and wearer condition monitoring in conventional chemically protective textiles remains challenging.Herein,the design,manufacturing,and use of stretchable hierarchical core-shell yarns(HCSYs)for integrated chemical resistance,moisture regulation,and smart sensing textiles are demonstrated.These yarns con-tain helically elastic spandex,wrapped silver-plated nylon,and surface-structured polytetrafluo-roethylene(PTFE)yarns and are designed and manufactured based on a scalable fabrication process.In addition to their ideal chemical resistance performance,HCSYs can function as multifunctional stretch-able electronics for real-time human motion monitoring and as the basic element of intelligent textiles.Furthermore,a desirable dynamic thermoregulation function is achieved by exploiting the fabric structure with stretching modulation.Our HCSYs may provide prospective opportunities for the future development of smart protective textiles with high durability,flexibility,and scalability.
查看更多>>摘要：Vitamin B1 is widely applied in the healthcare and food industry as an antineuritic and antioxidant to maintain the normal functioning of nerve conduction,the heart,and the gastrointestinal tract.This study reports on an integrated eight-step continuous-flow synthesis of vitamin B1 from commercially available 2-cyanoacetamide.The proposed continuous-flow process is based on advances in chemistry,engineer-ing,and equipment design,and affords improved performance and safety compared with batch-mode manufacturing.Several challenges were precisely investigated and controlled,including mixing,unex-pected clogging,solvent switches,an exothermic reaction,and the prevention of side reactions,using var-ious micro-channel flow reactors,mixers,separators,and continuous filters.Vitamin B1 was produced with a separated yield of 47.7％and high purity,with a total residence time of about 3.5 h.This eight-step continuous-flow protocol enables technology involving up to six of the key principles of green chem-istry.Hence,the application of flow technology is of paramount importance for improving security,reducing waste,and,in particular,improving the efficiency of batch operations that require several days for manufacturing.
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