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TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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A numerical method for predicting bursting strength of composite rocket motor case considering filament winding process-induced stress

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Chinese Journal of Aeronautics 2025年第2期38卷 505-518页

作者： Jiqiu LIANG Fei ZHAO Dan WU Anxin DING Hubei Key Laboratory of Advanced Aerospace Propulsion Technology Wuhan 430040China System Design Institute of Hubei Aerospace Technology Academy Wuhan 430040China School of Materials Science and Engineering Wuhan University of TechnologyWuhan 430070China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China

A numerical method to predict the bursting strength of filament wound composite rocket motor case is proposed *** method can evaluate the longitudinal stress evolution of each composite layer as impregnated filaments with fiber tension are wound layer by layer,and consider the effects of accumulated stress and deformation during filament winding on the bursting strength of composite ***∅520 mm composite cases as a case study,the filament-winding-process-induced stress and deformation as well as progressive damage behavior are numerically predicted,followed by a comparison with experimental *** numerical results show that the predicted bursting pressures for composite cases manufactured on the mandrels with and without a flexible component are 14.20 MPa and 21.40 MPa,*** values exhibit slight deviation from the measured pressures of 13.50 MPa and 21.57 ***,the predicted damage locations,situated respectively in the dome and cylinder,agree well with the experimental *** observations indicate that use of flexible component reduces the load-bearing capacity of the ***,it validates the reliability and accuracy of the proposed numerical method in predicting the bursting strength of composite cases.

关键词： Composite case Fiber tension Bursting strengt hProgressive damage analysis Filament winding

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Unveiling wave-particle duality via second-order photon correlations

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Frontiers of physics 2025年第2期20卷 157-168页

作者： Yanqiang Guo Chenyu Zhu Jie Zhao Taolue Zhou Jiazhao Tian Shuangping Han Kangze Li Xiaomin Guo Liantuan Xiao College of Physics Taiyuan University of TechnologyTaiyuan 030024China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

Wave-particle duality as a fundamental tenet of quantum mechanics is crucial for advancing comprehension of quantum theories and developing quantum technologies with practical ***,taking into account experimental impact factors to develop a feasible measurement for wave-like and particle-like properties of light fields is an ongoing challenge,and the non-classicality extraction and determination remains to be *** this work,feasibly measurable second-order photon correlations based on Hanbury Brown-Twiss and Hong-Ou-Mandel interferences are employed to analyze the evolution of wave-particle duality for various input *** wave-particle dualities of chaotic,coherent and mixed classical states as functions of time delay and coherence time are *** realistic impacts of background noise,detection efficiency,intensity ratio and phase differences on the wave-particle duality of nonclassical(Fock and squeezed coherent)states are *** noisy backgrounds with low detection efficiencies,efficient enhancement and extraction of non-classicality and a continuous transition from classical to nonclassical region are achieved in single photon state mixed with coherent state by adjusting the phase difference from 0 to π/*** non-classicality of squeezed coherent state can be induced by the classical wave-like and particle-like *** research provides a practical precision measurement of wave-particle duality that is helpful for the improvement of high-resolution quantum imaging and sensing.

关键词： second-order photon correlation wave-particle duality non-classicality single photon detection

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Design and characteristic research of a novel electromechanical-hydraulic hybrid actuator with two transmission mechanisms

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Frontiers of Mechanical Engineering 2023年第2期18卷 189-204页

作者： Shufei QIAO Long QUAN Yunxiao HAO Lei GE Lianpeng XIA Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China

Servo-hydraulic actuators(SHAs)are widely used in mechanical equipment to drive heavy-duty ***,their energy efficiency is low,and their motion characteristics are inevitably affected by uncertain *** actuators(EMAs)possess superior energy efficiency and motion ***,they cannot easily drive heavy-duty mechanisms because of weak bearing *** study proposes and designs a novel electromechanical-hydraulic hybrid actuator(EMHA)that integrates the advantages of EMA and *** mainly features two transmission *** piston of the hydraulic transmission mechanism and the ball screw pair of the electromechanical transmission mechanism are mechanically fixed together through screw bolts,realizing the integration of two types of transmission *** control scheme of the electromechanical transmission mechanism is used for motion control,and the hydraulic transmission mechanism is used for power ***,the mathematical model,structure,and parameter design of the new EMHA are ***,the EMHA prototype and test platform are *** test results prove that the EMHA has good working characteristics and high energy *** with the valve-controlled hydraulic cylinder system,EMHA exhibits a velocity tracking error and energy consumption reduced by 49.7% and 54%,respectively,under the same working conditions.

关键词： electromechanical-hydraulic hybrid actuator(EMHA) integration transmission mechanisms power assistance energy efficiency working characteristics

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Screen-Printed 1-m-Long Sensors for Damage Detection in Welded Engineering Structures

IEEE Journal on Flexible Electronics

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IEEE Journal on Flexible Electronics 2023年第2期2卷 153-159页

作者： Zymelka, Daniel Kobayashi, Takeshi Sensing System Research Center National Institute of Advanced Industrial Science and Technology Tsukuba305 Japan

In this study, we demonstrate 1-m-long sensors for damage detection in welded civil engineering structures. The sensors were fabricated using screen printing and were based on a hybrid construction of a conductive intermittent pattern (made of silver) with embedded sensing elements made of carbon-based resistive ink. The sensing elements were oriented in one direction corresponding to the expected maximum strain direction. Because the electrical resistance of the silver interconnects (1.88 ± 0.14Ω) was much lower than the resistance of sensing elements (2.04 ± 0.17 kΩ), the sensing properties of the sensors depend mainly on the properties of the carbon ink (gauge factor (GF) of 13.46). Thanks to such construction, the sensing direction of the sensor could be specified at the desired orientation, and the power consumption of the 1-m-long sensor could be reduced to about 15 μW. Low power consumption is especially important regarding the applications in sensing systems that are based on Internet of Things (IoT) devices. The sensors were evaluated during various laboratory tests. It was demonstrated that although the sensor is 1-m-long, it can detect even small damage (a few mm long) effectively and hence can be suitable for applications to monitor welded construction elements in real civil structures. © 2022 IEEE.

关键词： Structural health monitoring

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Research on thermal cyclization polyacrylonitrile enhanced piezoelectric performances of a flexible electronic skin sensor

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Science China(Technological Sciences) 2024年第12期67卷 3855-3866页

作者： JIA XuYing MU JiLiang WU Qiong YANG DongKuan LUO ZhongKe LIN JunFei GENG WenPing HOU XiaoJuan HE Jian CHOU XiuJian Science and Technology on Electronic Test and Measurement Laboratory North University of China Taiyuan 030051China Institute of Advanced Energy Materials and System North University of ChinaTaiyuan 030051China

Electronic skin(e-skin)is a research focus in the fields of robotics design,artificial prosthetics,and wearable *** used for long-term unattended monitoring,several key problems,such as energy supply,sensing performance,and structural design,have attracted increasing *** study reports a self-powered flexible e-skin sensor(FES)based on the thermal cyclization of polyacrylonitrile,which enhances the piezoelectric *** mainly consists of nanoscale polyacrylonitrile(PAN),Ecoflex,and flexible PCB *** is mixed as a piezoelectric functional material in the Ecoflex substrate,forming a flexible sensing *** enhance charge accumulation,PAN is initially electrospun into nanofibers and subsequently modified through a thermal treatment *** procedure results in the formation of a conjugated trapezoid structure within PAN and significantly increases its molecular dipole *** to the contribution of numerous nanocapacitors,the piezoelectric properties of the sensing module are significantly *** ensure durability,flexible PCBs were designed as the top and bottom electrodes of the sensing module via industrial board lamination and forming processes,also serving as ***,a human-computer interaction(HMI)system for e-skin measurement was developed,enabling realtime signal processing between the e-skin and the *** the basis of the good combination of piezoelectric nanoparticles,an Ecoflex substrate,and flexible PCBs,FES can reach 0.67 V/kPa and 0.99 voltage sensitivity and voltage linearity,respectively,under self-powered conditions under external pressure,and the detection range can reach 40–650 *** the basis of the good performance of FES devices,such as their self-powered ability,long-term serviceability,high sensitivity,wide monitoring range,and various optimized designs for later circuits,the e-skin designed in this paper has important applications in the fields of HMI,personality recogni

关键词： e-skin PAN wearable sensors electrospinning piezoelectric HMI

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Numerical Simulation of the Synergistic Effect of Cavitation and Particle Erosion

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International Journal of Fluid Machinery and systems 2025年第1期18卷 13-26页

作者： Nan, Haozhi Han, Wei Li, Rennian Zhang, Yukun Dong, Yifan College of Energy and Power Engineering Lanzhou University of technology Gansu province Lanzhou730050 China Key Laboratory of Advanced Pumps Valves and Fluid Control System of the Ministry of Education Lanzh ou University of Technology Gansu province 730050 China Jiuquan Institute of Advanced Technology Lanzhou University of Technology China

Cavitation and particle erosion are critical factors affecting the performance and durability of hydraulic machinery. This study employs a combined numerical simulation approach by integrating a cavitation model with a Discrete Phase Model (DPM) erosion model. It examines single erosion and cavitation-erosion synergy under varying cavitation inducer angles. The results show that intensified vorticity behind the inducer increases particle concentration and sliding erosion, leading to higher erosion rates and larger erosion areas compared to the single erosion model. Additionally, a direct correlation is established between cavitation occurrences, particle velocity, vorticity, and erosion rates at different rotational speeds. Comparative analysis with experimental data indicates an 11.52% improvement in predictive accuracy for wear using the cavitation-erosion synergy model. These findings provide valuable insights for predicting wear in hydraulic machinery under cavitation and particle erosion conditions, contributing to enhanced equipment reliability and extended service life. © 2025, Turbomachinery Society of Japan. All rights reserved.

关键词： Cavitation

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D-FUSION SLAM: A VSLAM system OPTIMIZED BY INTEGRATING DEPTH INFORMATION AND RGBD FEATURE POINTS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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Enhancing micro-scale SiO_(x)anode durability:Electro-mechanical strengthening of binder networks via anchoring carbon nanotubes with carboxymethyl cellulose

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Journal of Energy Chemistry 2025年第2期101卷 23-33,I0002页

作者： Chaeyeon Ha Jin Kyo Koo Jun Myoung Sheem Young-Jun Kim SKKU Advanced Institute of Nano Technology(SAINT) Sungkyunkwan UniversitySuwon 16419Republic of Korea Department of Nano Science and Technology Sungkyunkwan UniversitySuwon 16419Republic of Korea Advanced Center for Convergence Energy Storage System Sungkyunkwan UniversitySuwon 16419Republic of Korea SKKU Institute of Energy Science and Technology(SIEST) Sungkyunkwan UniversitySuwon 16419Republic of Kore

With the increasing prevalence of lithium-ion batteries(LIBs)applications,the demand for high-capacity next-generation materials has also ***_(x)is currently considered a promising anode material due to its exceptionally high capacity for ***,the significant volumetric changes of SiO_(x)during cycling and its initial Coulombic efficiency(ICE)complicate its use,whether alone or in combination with graphite *** this study,a three-dimensional conductive binder network with high electronic conductivity and robust elasticity for graphite/SiO_(x)blended anodes was proposed by chemically anchoring carbon nanotubes and carboxymethyl cellulose binders using tannic acid as a chemical *** addition,a dehydrogenation-based prelithiation strategy employing lithium hydride was utilized to enhance the ICE of SiO_(x).The combination of these two strategies increased the CE of SiO_(x)from 74%to87%and effectively mitigated its volume expansion in the graphite/SiO_(x)blended electrode,resulting in an efficient electron-conductive binder *** led to a remarkable capacity retention of 94%after30 cycles,even under challenging conditions,with a high capacity of 550 mA h g^(-1)and a current density of 4 mA cm^(-2).Furthermore,to validate the feasibility of utilizing prelithiated SiO_(x)anode materials and the conductive binder network in LIBs,a full cell incorporating these materials and a single-crystalline Ni-rich cathode was *** cell demonstrated a~27.3%increase in discharge capacity of the first cycle(~185.7 mA h g^(-1))and exhibited a cycling stability of 300 ***,this study reports a simple,feasible,and insightful method for designing high-performance LIB electrodes.

关键词： Lithium-ionbatteries Siox anode Blended anode Carbon nanotubes Carboxymethyl cellulose Conductive binder network

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Anticipating the lifespan: Predicting the durability of an anode-supported solid oxide fuel cell short stack over 50,000 h

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Progress in Natural Science:Materials International 2024年第3期34卷 606-613页

作者： Muhammad Zubair Khan Amjad Hussain Seung-Bok Lee Tak-Hyoung Lim Rak-Hyun Song Department of Materials Science & Engineering Pak-Austria Fachhochschule: Institute of Applied Sciences and Technology Hydrogen Energy Research Division Korea Institute of Energy Research Department of Advanced Energy and System Engineering Korea University of Science and Technology (UST)

In the present study, the operational lifetime of a solid oxide fuel(SOFC) short stack is predicted by investigating the performance degradation of both the short stack and its cells throughout 1000 h at 800°C. The short stack and integral cell voltages are continuously measured during the long-term test, with electrochemical impedance spectroscopy(EIS) conducted every 200 h. The short stack voltage decreased rapidly for the initial 200–300 h and afterwards, it decreased at a slow rate due to the increase in the Ohmic and polarization resistances in the same manner. Scanning electron microscopy results show that there is no delamination or cracking among constituent layers of the short-stack cells. The single degradation effects of the Ni coarsening in the anode, cation migration and surface segregation in cathode and oxide scale growth in metallic interconnect mesh are successfully integrated into a comprehensive lifetime prediction model. The experimentally measured voltage degradation data of the short stack fits well with the developed mathematical model and allows the successful prediction of the lifetime up to 50,000 h.

关键词： SOFC Stack Degradation Impedance Lifetime

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