Abstract: One example embodiment is a robotic end effector, comprising: (a) a soft gripper and (b) an electro-hydraulic actuator assembly. The soft gripper comprises: a gripper body comprising a finger connecting portion; and at least two fingers connected to the finger connecting portion. The gripper body further comprises a gripper cavity therein. The finger connecting portion and the at least two fingers define a working space therewithin, the working space comprises an opening between proximal ends of the at least two fingers. Each of the at least two fingers further comprises a finger barb substantially extending into the opening to partially close up the opening. The electro-hydraulic actuator assembly comprises: an actuator that is operatively driven by an electric motor; and a chamber that comprises a chamber variable volume controlled by the actuator. The chamber variable volume is in liquid communication with the gripper cavity to form a closed space filled with a liquid.

Abstract: A method for forming a large-diameter special-shaped cross section thin-wall tubular part. A tailor welded barrel blank is adopted as an original blank for forming of the large-diameter special-shaped cross section thin-wall tubular part. After a desired shape is formed, the original weld joint is removed and butt joint tailor welding is performed on the tubular part again. Since the tailor weld joint of the original barrel blank is removed from the final part, there is no need to consider the consistency or coordination of the microstructure of the weld joint and the base metal during the forming process and the subsequent thermal treatment process.

Abstract: The present invention relates to an alternative process for synthesizing a compound of formula (I), R1 is phenyl, which is unsubstituted or substituted with one, two or three substituents independently selected from halogen and C1-6alkyl; R2 is C1-6alkyl; R3 is —CxH2—; x is 1, 2, 3, 4, 5, 6 or 7; or pharmaceutically acceptable salt or diastereomer thereof, which is useful for prophylaxis and treatment of a viral disease in a patient relating to hepatitis B infection or a disease caused by hepatitis B infection.

Abstract: A method for forming a large-size curved thin-walled metal skin is disclosed, wherein the position and size characteristics of stiffeners on a curved panel is extracted; the thickness of the curved panel and the thin-walled skin after assembly is assumed to be m, and a forming surface of the punch is offset outwards along a normal line by the thickness m to obtain the characteristics of the inner surface of a female die; the number of the discrete support moulds is set to be the same as the number n of the stiffeners based on the size and distribution of the stiffeners on the curved panel; and the punch and the female die combined with the discrete support moulds are used to carry out stamping of a curved thin-walled slab to obtain a required thin-walled skin component.

Abstract: A method for forming a large-diameter special-shaped cross section thin-wall tubular part. A tailor welded barrel blank is adopted as an original blank for forming of the large-diameter special-shaped cross section thin-wall tubular part. After a desired shape is formed, the original weld joint is removed and butt joint tailor welding is performed on the tubular part again. Since the tailor weld joint of the original barrel blank is removed from the final part, there is no need to consider the consistency or coordination of the microstructure of the weld joint and the base metal during the forming process and the subsequent thermal treatment process.