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For the high theoretical specific capacity and low redox potential, lithium (Li) metal is considered as one of the most promising anode materials for the next generation of rechargeable batteries. In this work, we have developed an effective and accurate plasma strategy to regulate the surface morphology and functional groups of three-dimensional nitrogen-containing carbon foam (CF) to control the Li nucleation and growth. Besides the rougher surface induced by oxygen (O

Personalized information retrieval is an effective tool to solve the problem of information overload. Along with the rapid development of emerging network technologies such as cloud computing, however, network servers are becoming more and more untrusted, resulting in a serious threat to user privacy of personalized information retrieval. In this paper, we propose a basic framework for the comprehensive protection of all kinds of user privacy in personalized information retrieval. Its basic idea is to construct and submit a group of well-designed dummy requests together with each user request to the server, to mix up the user requests and then cover up the user privacy behind the requests. Also, the framework includes a privacy model and its implementation algorithm. Finally, theoretical analysis and experimental evaluation demonstrate that the framework can comprehensively improve the security of all kinds of user privacy, without compromising the availability of personalized information retrieval.

Objective For the sake of discussion on the methods that enhance the reporting quality of randomized controlled trials (RCTs), regarding the assessment of the quality of RCT report in the treatment of allergic rhinitis with acupuncture and Moxibustion by the Consolidated Standards of Reporting Trials 2010 statement (CONSORT) 、the Standards for Reporting Interventions in Controlled Trials of Acupuncture 2010 (STRICTA) and the Standards for Reporting Interventions in Clinical Trials of Moxibustion (STRICTOM). Methods Eight related databases from launch to September 2022 containing PubMed, Embase, the Cochrane Library, Web of Science, China National Knowledge Infrastructure (CNKI), Chinese Biomedical Literature Database (CBM), Wan fang Database (WF), China Science and Technology Journal Database (VIP). Searching for acupuncture treatments were published in English and Chinese randomized controlled trials of AR. Results There were 67 RCTs, which were included sequentially. On account of the CONSORT statement, the positivity ratio was around 70%, and the project reports were fine performance “Structured summary,” “backdrop,” “Description of trial design,” “Eligibility criteria,” “Data acquisition,” “The meddle,” “Generation of random sequences” and “Registration”. Nevertheless, the positivity ratio was approximately 10%, the quality of the project report is no chop “Specific objectives or hypotheses,” “Research evaluation index modification,” “Any variation to the test outcomes,” “End and termination reasons,” “Type of randomization,” “Similarities in intervention programmers and specific content of blinding,” “Statistical methods for other data,” “Dichotomy outcomes,” “Why the trial ended or was stopped Ancillary analyses,” “Harms,” and “Generalizability Interpretation”. On the basis of the STRICTA guidelines, the positivity ratio was about 80%, the quality of the project reports good performance “Style of acupuncture,” “Names,” “Treatment regimen,”. The positivity rate about 50%, quality project report performance was poor “The degree of treatment varies,” “Number of needle insertions,” “Treat other components,” “Practitioner backdrop,” and “Reasonable regulate and comparison”. On the strength of the STRICTOM guidelines, the positivity ratio was around 80%, and quality project report performance was good “Type of moxibustion,” “Materials used for moxibustion,” “Names of acupoints,” “Treatment regimen,” and “Setting and context”. Quality project report “The degree of treatment varies,” “Patient posture and treatment environment,” “Treatment provider background,” and “Regulate and comparison interventions”, relatively low, with positivity ratio around 10%. Most projects were rated as "modest and substantive". Conclusion Though many RCTs of allergic rhinitis have been published in diverse journals, the entirety reporting quality of these articles was suboptimal, it cannot offer valid proof for clinical decision and systematic reviews. Nevertheless good quality reports provide scientific, effectiveness and safety for clinical treatment .Therefore, more journals should approve the CONSORT statement、STRICTA and STRICTOM Guidelines, when reporting articles, authors should rigorously follow these relevant provisions.

This work discusses a Multilevel-Teaching Practice on GNSS Principle and Application for Undergraduates of Surveying and Mapping in China, underlining the fast development of remote sensing technology. We explore i) the multidisciplinary cross-combination transformation of the traditional GNSS education of remote sensing; ii) we combine theoretical knowledge and practical results in the field of navigation and positioning; iii) we highlight the cutting-edge, intersecting and comprehensive teaching content; innovate the construction of a practical teaching platform for GNSS theory, practice and innovation ability training. A multi-level theoretical and practical curriculum system has been established to strengthen the foundation and professional skills, and cultivate scientific and technological innovation. We propose a teaching method of “Hybrid Online/Offline Teaching”, which makes use of the advantages of online/offline teaching form, effectively improving the quality of undergraduate teaching. In terms of practice and innovation ability training, we establish an open, diversified, research-based practice innovation-education platform based on virtual simulated experiments. The implementation of this teaching approach has achieved remarkable results on undergraduate training for GNSS education.

The chelating agent triethanolamine (TEA) is introduced as an additive in the electrolyte to enhance the cycling stability of aqueous zinc-ion batteries.

With photoconductor being transferred and separated, interface contact plays a crucial role in developing composites photocatalyst. In the present work, 2D crystalline g-C3N4 (called as CCN) with 2D TiO2 nanosheets (called as TO) obtained in situ oxidized single-layered Ti3C2Tx MXene is designed by an electrostatic self-assembly technology. This CCN/TO nanosheets system with a few TiO2 nanosheets distributed to the surface is not only prolonging lifetime of photoelectron but also stimulating photogenerated carriers transferred in contact interface. The electron transfer mechanism of CCN/TO is further proved by Pt photo-deposition method. Therein, the optimal CCN-TO-0.6 exhibits excellent performance of H2 generation compared with single photocatalyst of CCN. The result shows that the crystalline g-C3N4 photocatalysts introduced TiO2 with interfacial effect favorably reduce H+ to H2 and enhance photocatalytic activity.

Organic and inorganic materials have their own advantages and limitations, and new properties can be displayed in organic-inorganic hybrid materials by uniformly combining the two categories of materials at small scale. The objective of this study is to hybridize activated carbon (AC) with ferrocene to obtain a new material, ferrocene/AC, as the cathode for Zn-ion hybrid supercapacitors (ZHSCs). The optimized ferrocene/AC material owns fast charge transfer kinetics and can obtain pseudo-capacitance through redox reaction. Due to the introduction of ferrocene/AC, the ZHSCs exhibit remarkable electrochemical performances relative to that using ferrocene cathode, including high discharge specific capacity of 125.1 F g

Summary Achieving high selectivity and production efficiency simultaneously in electrocatalytic H2O2 production to replace the anthraquinone process via two-electron (2e−) oxygen reduction reaction (ORR) and 2e− water oxidation reaction (WOR) is a long-sought-after goal. However, sluggish kinetics and intrinsically unfavored thermodynamics make the electrochemical method still far from practical implementation. Herein, we experimentally demonstrate a high-efficiency two-side H2O2 generation system (WOR//ORR coupling cell) based on an active and stable bifunctional plasma-induced defective TiO2-x nanocatalyst that exhibits dramatically boosted activity/selectivity for both 2e− ORR and 2e− WOR. Such a WOR-ORR coupling strategy enables the H2O2-producing cell to provide an ultrahigh H2O2 yield rate of ∼20 mmol L−1 h−1 and a remarkable cell Faradaic efficiency of up to 134%. In situ Raman spectroscopy results and density functional theory calculations together uncover that oxygen vacancies located at the inner atomic layer and surface distortion are responsible for enhanced 2e− ORR and 2e− WOR performance, respectively.

In this study, a novel fine-grained AZ31 magnesium (Mg) alloy reinforced with sub-micron vanadium particles (VP) was prepared by powder metallurgy (P/M). It was found that VP could accelerate the pile-up of dislocations and the refinement of Mg crystallite sizes during the milling process. The Mg matrix was refined to nanocrystalline scale after milling for 90 h, and the ultimate average crystallite size was only 25 nm. Meanwhile, a homogeneous distribution of the sub-micron VP in Mg matrix was achieved. After hot-extrusion process, the average grain size of Mg matrix was 3.08 μm, which reached fine-grained scale. Additionally, the AZ31-2.5 wt % VP composite exhibited competitive mechanical properties. Compared to the as-cast AZ31 Mg alloy, the microhardness, yield strength, ultimate tensile strength and elongation of AZ31-2.5 wt % VP composite increased by 102%, 128%, 59% and 10%, respectively. The grain boundary strengthening played a dominant role in improvement of strength. Simultaneously, the strengthening mechanisms of thermal mismatch, Orowan strengthening and load transfer also made a contribution. Besides that, the fracture mechanism of the AZ31-2.5 wt % VP composite included ductile and brittle fracture mode.

The influence of induction heating on the grain boundary character distribution (GBCD) in near-surface regions of a cold-rolled Nickel-based superalloy was researched. After induction heating, most of low-Σ coincidence site lattice (CSL) boundaries were Σ3 boundaries, which were mainly formed via the growth accident model. Moreover, the grain structures evolution during induction heating had a great influence on the evolution of GBCD. At the low strain of 0.1, both the fraction of Σ3 boundaries and grain size increased with the increasing temperatures, while the former was closely related to the better development of grain-clusters at the higher temperature. In addition, the coherent Σ3 boundaries were easier to be formed at the higher temperature during induction heating, owing to their low interface energy and mobility. At the large strain of 0.5, the fraction of Σ3 boundaries also increased with the increasing temperatures, but the grain size exhibited the opposite trend, which was closely related to the well development of static recrystallization (SRX) behaviors. Meanwhile, there was a “symbiotic relationship” between the SRX grains and Σ3 boundaries during induction heating. Through the electrochemical corrosion tests, it was proved that induction heating can contribute to the improvement of corrosion properties of superalloys via increasing the fraction of Σ3 boundaries, while the best corrosion resistance appeared in the samples treated at 800 °C with the strain of 0.5. Moreover, the evolution of both Σ9 and Σ27 boundaries was also closely related to strains and induction heating temperatures, but their fractions were less than 4%.

In this work, the thermal stability of nanocrystalline (NC) AZ31/TiB2 magnesium matrix composites was investigated, while the microstructure evolution and mechanical properties were analyzed. The results indicated the AZ31/TiB2 still maintained NC structure after annealing at 350 °C for 180 min. Even at the high annealing temperature of 400 °C and 450 °C for 180 min, their average grain size just reached about 124 nm and 155 nm, indicating excellent thermal stability. The TiB2 particles with sub-micron size uniformly distributed in Mg matrix had no change in size and no reaction with matrix during the annealing treatment. Due to the strong Zener pinning effect of TiB2 particles, the grain growth of Mg matrix at high temperature was effectively inhibited. Meanwhile, the solution and precipitation behavior of Al atoms were completed in a short time, due to the existence of many grain boundaries and structural defects. By calculation, the grain growth kinetics was described by the kinetics equation $$D^{8} - D_{0}^{8} = kt$$ and the activation energy Eg for grain growth was 131.6 kJ/mol, which was much higher than that of pure Mg (92 kJ/mol). Due to their excellent thermal stability, the decrease in both compressive yield strength and ultimate compressive strength was no more than 12.2% after annealing treatment. Even annealing at 450 °C for 180 min, the CYS and UCS of the samples were still above 283 MPa and 295 MPa, respectively.

Lithium metal is the most promising anode materials for the next generation lithium ion battery. However, the electrode polarization leads to the formation of dendrites and “dead lithium”, which degrades the performance of lithium metal batteries and induce a variety of security risk. The electrode polarization and lithium dendrites can be suppressed by lithium metal composite electrode. Herein, a simple and effective strategy is adopted to construct nickel and lithium bimetallic composite (NiLi-BC) electrode by a double roll process. The Ni framework inside the electrode can optimize the electric field and Li+ distribution at the electrode/electrolyte interface and induce the uniform lithium deposition. As a result, the NiLi-BC exhibits a lithium dendrite-free feature and stable cycling performance under a low overpotential (

Cervical cancer (CC) is one of the most common gynecological malignancies worldwide. Zinc Finger Protein 488 (ZNF488) has been identified as an oncogene in nasopharyngeal carcinoma. However, its biological role and potential mechanism in CC remain to be elucidated. In the present study, upregulation of ZNF488 expression in human CC tissues was found in clinical samples and analyzed in The Cancer Genome Atlas (TCGA) dataset, which was associated with clinical staging and lymph node metastasis. Quantitative real time polymerase chain reaction (PCR) and western blot assays indicated that the expression of ZNF488 was up-regulated in CC cells. Cell colony formation and cell cycle analysis assays suggested that ZNF488 promoted CC cell proliferation and cycle progression. Knockdown of ZNF488 inhibited tumor growth of xenograft tumor mice in vivo, in agreement with the levels of ZNF488 and Ki-67. Moreover, transwell and western assays demonstrated that ZNF488 enhanced CC cell migration and invasion. Additionally, knockdown of ZNF488 also inhibited lung metastasis of CC cells in vivo. Further mechanism analysis implied that ZNF488 promoted the MEK/ERK signaling pathway. ERK inhibitor PD98059 significantly weakened the proliferation and epithelial-mesenchymal transformation (EMT) promotion effect of ZNF488. Collectively, ZNF488 exerts its oncogene function partially through modulating MEK/ERK signaling pathway in CC, indicating that ZNF488 may provide a promising therapeutic target for the treatment of CC.

The active site amount of photocatalysts, being the key factors in photocatalytic reactions, directly affects the photocatalytic performance of the photocatalyst. Pristine graphitic carbon nitride (g-C3N4) exhibits moderate photocatalytic activity due to insufficient active sites. In this study, cyano-modified porous g-C3N4 nanosheets (MCN-0.5) were synthesized through molecular self-assembly and alkali-assisted strategies. The cyano group acted as the active site of the photocatalytic reaction, because the good electron-withdrawing property of the cyano group promoted carrier separation. Benefiting from the effect of the active sites, MCN-0.5 exhibited significantly enhanced photocatalytic activity for CO2 reduction under visible light irradiation. Notably, the photocatalytic activity of MCN-0.5 was significantly reduced when the cyano groups were removed by hydrochloric acid (HCl) treatment, further verifying the role of cyano groups as active sites. The photoreduction of Pt nanoparticles provided an intuitive indication that the introduction of cyano groups provided more active sites for the photocatalytic reaction. Furthermore, the controlled experiments showed that g-C3N4 grafted with cyano groups using melamine as the precursor exhibited enhanced photocatalytic activity, which proved the versatility of the strategy for enhancing the activity of g-C3N4 via cyano group modification. In situ diffuse reflectance infrared Fourier transform spectroscopy and theoretical calculations were used to investigate the mechanism of enhanced photocatalytic activity for CO2 reduction by cyano-modified g-C3N4. This work provides a promising route for promoting efficient solar energy conversion by designing active sites in photocatalysts.

Development of delithiation methods with cost-efficiency and highly kinetic effectivity is of great importance for the preparation of diversified intercalation materials, mechanistic study, and lithium extraction from spent lithium-ion batteries. Electrochemical delithiation in aqueous electrolytes is low-cost, straightforward, and fast, but has been plagued by incomplete delithiation. To address this issue, we propose to add oxidation reagents, usually applied in chemical delithation, to traditional aqueous delithiation electrolyte. As a demonstration, herein, a Na2SO4 + Na2S2O8 composite aqueous electrolyte is used to obtain olivine FePO4 from the electrochemical delithiation of LiFePO4, and compared with the similar delithiation in Na2SO4 aqueous electrolyte. The delithiation goes completion in the composite electrolyte 79% faster than that in traditional electrolyte. The resulting olivine FePO4 exhibits integrity in terms of structure and electrochemical properties, with discharge specific capacity of 157.1 mAh g−1 at 0.1 C, constant voltage plateau of 3.37 V, and 98.8% capacity retention after 100 cycles, all comparable to the LiFePO4 starting material. Mechanistic studies show that Na2S2O8 promotes the electrochemical delithiation by providing acidic and chemically oxidative conditions.

Two kinds of Fe/C nanofibers were prepared by electrospinning and calcination under the same process conditions. A simple way was used to adjust the size of the Fe nanoparticles by using different spinning solvents. The one was prepared by a mixture of water and anhydrous alcohol as solvents (named as CNFwater) and the other by N,N-Dimethylformamide and anhydrous alcohol (named as CNFDMF). Due to the higher solubility to iron salts and larger surface tension of water, CNFwater gained a larger size of Fe nanoparticles and average diameter. In addition, the graphite layers wrapped on Fe nanoparticles which were formed during calcination were thinner in CNFwater than CNFDMF. These factors endowed CNFwater better microwave absorption performance. The results of XRD, SEM, HRTEM, Raman, magnetostatic and electromagnetic properties analysis revealed the influence mechanisms of solvents on the formation, microstructure and properties of Fe/C nanofibers.

Tremendous efforts have been made to improve the electrochemical performance of the lithium-sulfur batteries. However, challenges remain in achieving fast electronic and ionic transport while accommodate the significant cathode volumetric change. On the other hand, the severe capacity decay mainly attributed to polysulfide shuttle also hampers the practical applications. Here, we report a simple, low-cost, and eco-friendly method for the one-step preparation of a binder-free S-C composite cathode by plasma dissociation of CS2 containing gases at room-temperature. The key issue of polysulfide shuttle effect in Li-S batteries is also effectively resolved just by the introduction of N2 into the precursor gases. The electrode exhibits a high reversible capacity of ~600 mAh/g of the total hybrid of S + C at 100 mA/g after 100 cycles with an excellent initial coulombic efficiency of nearly 100%. The cells also demonstrate along cycle life and an extremely high capacity of ~306 mAh/g even after 300 cycles at 1 A/g with a high coulombic efficiency of about 100%. The proposed method will open the way for the plasma applications in facile preparation of Li-S batteries and the improvement of its electrochemical performance.

An important security problem faced by wireless sensor networks (WSNs) is malware propagation. Traditional malware propagation models take less consideration of the impact of the attack and defense processes on malware propagation results. We analyzed the micro-mechanism of malware propagation in WSNs from the perspective of the game theory, established the attack–defense game model of WSNs, derived the mixed Nash equilibrium solution of the game model, and derived the contagion probability of malwares according to the mixed Nash equilibrium strategy of both sides in the game, thus establishing the malware propagation model in WSNs. From the analysis of the theoretical model, we deduced the relationship between the steady-state infection ratio and the game parameters and obtained the conditions for the long-term existence of malwares. In addition, we simulated the propagation process of malwares in WSNs with cellular automaton and the simulation results verified the correctness of the theoretical model. The results have theoretical guiding significance for suppressing the propagation of malwares in WSNs.

Two kinds of Fe/amorphous carbon (a-C) submicron fibers were prepared by electrospinning using polyvinylpyrrolidone (PVP) and polyacrylonitrile (PAN) as precursor polymer, followed by carbonization under the same conditions. Contributed to the different reaction mechanisms during the annealing process, different phases namely graphite carbon (g-C) and Fe4N formed at the interface between the Fe nanoparticles and the a-C matrix. Electromagnetic absorption properties have shown that the Fe@Fe4N submicron fibers have superior absorption performance than the Fe@g-C ones. The minimal reflection loss (RL) value of the former is − 39.8 dB at 5.4 GHz with the absorber thickness of 5.0 mm, and the effective absorption bandwidth (RL ≤ − 10 dB) can reach 5.0 GHz when the absorber thickness is 2.5 mm. By contrast, the Fe@g-C submicron fibers have little absorption. The attenuation constant, impedance matching coefficient, complex permittivity and complex permeability were investigated in detail. The microstructure and composition were explored various superior tools. The results revealed that the interface Fe4N has a critical role in affecting the magnetic loss and dielectric loss, which brings better impedance matching and relatively low dielectric loss. Therefore, the Fe@Fe4N submicron fibers have excellent microwave absorbing properties.

Amine-functionalized graphitic carbon nitride (g-C3N4) decorated with Au nanoparticles (CN/Au) was prepared by N2 plasma treatment of g-C3N4 powders impregnated with HAuCl4·3H2O. Well-dispersed Au nanoparticles with a small particle size were deposited on g-C3N4 nanosheets. In addition, the amino group was introduced into the CN/Au system. Without the addition of cocatalyst and sacrificial agent, CN/Au exhibited enhanced photocatalytic activity for CO2 reduction under visible-light irradiation. CO and CH4 evolution rates of CN/Au reached 28.3 and 1.3 μmol·h−1·g−1, which were 7.6 and 2.6 times higher than those of pristine g-C3N4 (CN-0), respectively. The enhanced activity can be explained by these factors. (1) The introduced amino group improved the adsorption capacity of CN/Au for CO2; (2) the hot electrons generated by Au nanoparticles activated the surrounding electrons through energy transfer and caused local temperature to rise, increasing the efficiency of the photoreduction reaction of CO2; (3) the Schottky junction between Au and g-C3N4 promoted the migration of electrons from g-C3N4 to Au nanoparticles, suppressing the recombination of the carriers. Time-of-flight secondary ion mass spectrometry confirmed the introduction of amino groups, and solid-state 13C nuclear magnetic resonance spectra provided a support for inferring the position of the amino group.

The evolution of grain boundary character distribution in a cold-deformed nickel-based superalloy during the electropulsing treatment (EPT) was studied. The results revealed that both coherent Σ3 boundaries (Σ3c) and incoherent Σ3 boundaries (Σ3ic) were formed in the recrystallized structures mainly by growth accidents during EPT, while the fraction of Σ3ic boundaries became much lower at the higher EPT temperatures. Meanwhile, the fraction of Σ3 boundaries increased with the increasing EPT temperatures till 850 °C, and decreased again at 900 °C. In addition, the high mobility of grain boundary during EPT could promote the formation of stacking errors at some locations of high angle grain boundaries (HAGBs), and thus promoting the nucleation of annealing twins. With the increasing EPT time, the fraction of Σ3 boundaries increased slightly, and the unstable Σ3ic boundaries were transformed into stable Σ3c boundaries, in which intersecting migrating SRX fronts were easier to be extended. On the other hand, a lot of low-Σ CSL grain boundaries were formed in the pre-deformed alloy with the strain of 0.1 during EPT, which was mainly attributed to the development of large grain-clusters. As the strain was large enough, the energy supplied by electropulsing could enable the cold-rolled alloy to effectively utilize the stored energy on the formation of Σ3 boundaries. Besides that, the evolution of Σ9 and Σ27 boundaries was analyzed in detail as well as the corrosion resistance of the studied alloy after different treatments.

Strong demand for affordable clean energy to support applications ranging from conventional energy supply to space propulsion places spotlight on advanced energy generation using photovoltaic and wind power. Yet, the intermittent nature of solar and wind sources drives the search for energy storage solutions that would permit the needed level of resilience and support further growth in the use of renewable sources of power. Hydrogen generation using sunlight is a promising pathway to decouple demand from supply. Herein, we show how exposure to reactive Ar-H2, Ar-H2-N2, and Ar-O2 plasma environments can notably enhance surface properties of photocatalytic TiO2 nanosheets used in advanced energy generation systems. Treatment using Ar-H2 plasmas produced highly hydrogenated, surface-disordered TiO2 nanosheets with oxygen vacancies, whereas exposure to Ar-H2-N2 plasmas resulted in N doping. Surprisingly, Ar-O2 plasma treatment did not change surface properties of TiO2. Optical emission spectroscopy was used to monitor transient species to further understand surface modification in plasma. Direct measurements demonstrated that among thus-produced samples, hydrogenated TiO2 nanosheets exhibit the highest photocatalytic H2-generation activity under visible-light irradiation, which is also greater than the activity of pure, untreated nanosheets. The mechanism of enhancing the visible-light photocatalytic H2-generation activity on hydrogenated TiO2 nanosheets is also proposed. The level of surface disorder and oxygen vacancies plays an important role in enhancing visible-light absorption and reducing the recombination of photogenerated electrons and holes.

By compensating the irreversible loss of lithium ions during the first cycle, prelithiations can solve the issue of insufficient initial Coulombic efficiency for various anodes. Recently, the chemical prelithiation using organolithium compounds has attracted increasing attention because of its uniform and fast reaction, safety, and easily adjustable degree of prelithiation. However, the nature and activity of organolithium involved in chemical prelithiations have not been deeply explored yet. Here, by monitoring the electrical conductivity change in the lithiation solution in the duration of its formation, we have demonstrated the essential role of lithium radical anions for chemical prelithiation and compared the prelithiation activity of dissociated species and aggregates of lithium radical anions. The mechanistic understanding of the nature of the lithiation solution leads to controllable chemical prelithiation, as demonstrated in full cells of prelithiated hard carbon and LiFePO4.

In this paper, a vibration suppression and compliance control algorithm for a flexible cantilever beam using multiple manipulators is proposed. The system of vibration suppression and the operating principle of the multiple manipulators are first introduced. The cantilever beam is modelled as a distributed parameter system following the Euler-Bernoulli Beam theory. Then the dynamic response of the cantilever beam is carried out to design the control law of vibration suppression. To prevent the extreme pressure on the beam exerted by manipulators, a compliance control algorithm is presented. In this way, the manipulator will move along with the displacement of the beam when the pressure between the beam and manipulators exceed the threshold. Finally, numerical simulations are provided to illustrate the performance of the algorithm. The results of simulations reveal that the manipulators can suppress the vibration of the cantilever beam effectively and the stresses of the beam at arbitrary positions are reduced. Meanwhile, the contact forces between the beam and manipulators can be controlled within the specified threshold.