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It is a conundrum to use robots to complete the intelligent operation of leather and clothing fabrics; this is mainly reflected in the design of an end effector that can realize this function. We have determined the design requirements and objectives of the end effector by observing the action of manually grabbing and spreading leather, and put forward an end effector composed of a reconfigurable multi-link mechanism and roller-type fingertip, which can be used to grab and spread flaky deformable object manipulation. At the same time, the reconfigurable multi-link mechanism and roller-type fingertip are introduced and analyzed in detail. By setting up the prototype of the end effector and completing the grabbing experiment of three kinds of soft pieces, we verified and tested the rationality of the prototype design. The result shows that the grabbing success rate will be affected by many factors, and further exploration is needed to further improve the performance of the end effector.

Application of effective interaction depth (EID) principle for parametric normalization of full energy peak efficiencies at different counting positions, originally for quasi-point sources, has been extended to bulky sources (within ∅30 mm×40 mm) with arbitrary matrices. It is also proved that the EID function for quasi-point source can be directly used for cylindrical bulky sources (within ∅30 mm×40 mm) with the geometric center as effective point source for low atomic number ( Z ) and low density ( D ) media and high energy γ-rays. It is also found that in general EID for bulky sources is dependent upon Z and D of the medium and the energy of the γ-rays in question. In addition, the EID principle was theoretically verified by MCNP calculations.

Sampling behavior of multielements for NIST SRM 2703, a marine sediment, was studied with sample sizes from 1 mg down to ng level by a combination of INAA, PIXE and SRXRF. On 1 mg sample size level, sampling behavior for multielements in NIST SRM 2703 and its parent SRM 2702 were comparatively characterized by using INAA combining with Ingamells model. Results showed that sampling uncertainties for 12 elements of both materials were found to be better than 1%, and those of four other elements in SRM 2703 better than in SRM 2702. At sample sizes not able to be accurately weighed (

By means of kerogen purification, the proton induced X-ray emission (PIXE) and instrumental neutron activation analysis (INAA), the authors have studied the organic/inorganic occurrence modes of the metallic elements of the Baiguoyuan silver-vanadium deposit hosted in black shale in Hubei Province, China. The result shows that Au, Hg and Ta have a strong tendency to occur organically, with more than 70% of these elements being associated organically. Se, Ga, Ag and Hf are partly associated with organic matter, with more than 20% of them occurring organically. Compared with the above elements, Zn, Cu, As and Sb are weakly associated organically, and tend to be enriched in kerogen. However, Mn, Th, U, V, Co, Cr, AI, Fe and Sc usually occur inorganically. Of the rare earth elements (REE), La, Ce, Tb, Dy, Yb and Lu have stronger ability to be associated with organic matter than Sm and Eu.

Nuclear tracks can be etched into pores in which the refractive indexes gradually increase, so that the sample surface reflects very few lights back. CR-39 samples were bombarded with sulfur ions from the Tandem Accelerator HI-13 of CIAE. Three kinds of procedures were performed in the following treatments. The reflectivity was measured for all samples, untreated and treated, within the wavelengths of visible light. The results indicated that the reflectivity of the CR-39 samples modified with the track technique and multilayer coating can be as low as 0.1%.

The half-life of 97Zr, used for the calculation of thermal/epithermal neutron flux ratio in k0-NAA, is re-determined using three measurement systems with different pulse processing principles. The result of 16.755±0.013 hours clarifies the discrepancy between two widely used literature values, 16.744±0.011 and 16.90±0.05 hours. Different dead-time correction methods used on various measurement systems are evaluated. Factors influencing precise measurement of relative peak counting rates are discussed in time-series measurements over a dynamic range of 1000-fold radioactive intensities (10 half-lives).

Quantitative calibration and quality control have been a major bottleneck in microanalysis due to the lack of natural-matrix CRMs certified at sample sizes compatible with those of unknown samples. In this paper, a solution is described to characterize sampling behavior for individual elements, so as to identify elements homogeneous enough at stated sample size levels in given CRMs/RMs. By using a combination of several nuclear analytical techniques, INAA-EDXRF-µPIXE, sampling behavior for individual elements can be characterized at sample size levels from grams down to pg. Natural-matrix CRMs specifically for QC of microanalysis may thus be created. Additional information in certificates of these new generation CRMs is imagined.

In this paper, an empirical formula for the HPGe efficiency calibration of bulky sources in cylindrical geometry is proposed. The simple but accurate empirical formula is able to effectively predict the efficiencies of summing effect-free γ-rays from cylindrical bulky sources (within ∅30 mm×40 mm) at different source-to-detector distances. The relative difference between experimental and calculated data at 0, 20, 40 and 80 mm source-to-detector distances is smaller than 5%.