In this paper, we theoretically design a dual-band graphene-based terahertz (THz) absorber combining the magnetic resonance with a THz cold mirror without any metallic loss. The absorption spectrum of the all-dielectric THz absorber can be actively manipulated after fabrication due to the tunable conductivity of graphene. After delicate optimization, two ultra-narrow absorption peaks are achieved with respective full width at half maximum (FWHM) of 0.0272 THz and 0.0424 THz. Also, we investigate the effect of geometric parameters on the absorption performance. Coupled mode theory (CMT) is conducted on the dual-band spectrum as an analytic method to confirm the validity of numerical results. Furthermore, physical mechanism is deeply revealed with magnetic and electric field distributions, which demonstrate a totally different principle with traditional plasmonic absorber. Our research provides a significant design guide for developing tunable multi-resonant THz devices based on all-dielectric configuration.

In situ maintenance works for nuclear power plants are highly beneficial as they can significantly reduce the current maintenance cycle and cost. However, removing absorber balls in a constrained environment through an inspection port is fairly challenging. In this article, a 3-DOF dual-segment continuum robot system is proposed which is equipped with an end-effector to remove absorber balls by pneumatic conveying. Then, according to the symmetrical layout of actuation ropes, the kinematics of the single-segment continuum robot are extended, and the kinematics equation which is universal to the continuum robot with the dual segment is summarized. In addition, some special kinematics solutions can be obtained according to opposite-bending and feeding characteristics. Finally, the functions of the device are verified by tests. The results show that the continuum robot can smoothly pass through the divider plug and reach any position at the bottom of a ball-storage tank where absorber balls are located with only two segments. In a gas environment, the efficiency of absorber ball removal can reach 58.96 kg/h with a lift of 7.5 m and 48.54 kg/h with a lift of 10 m. This result undoubtedly paves the way for the in-service maintenance of nuclear power plants.

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