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An in-situ cross-linked network PMMA-based gel polymer electrolyte with excellent lithium storage performance

Journal of Materials Science & technology 2024年第32期199卷 197-205页

作者： Shaopan Qin Min Wu Hongshun Zhao Jianbin Li Maoyin Yan Yurong Ren Yanli Qi School of Materials Science and Engineering Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power BatteryChangzhou Key Laboratory of Intelligent Manufacturing and Advanced Technology for Power BatteryChangzhou UniversityChangzhou 213164China

Gel polymer electrolytes(GPEs)effectively combine the advantages of high ionic conductivity and re-duce the risk of leakage associated with *** this study,a chemically cross-linked gel polymer electrolyte was prepared by in-situ polymerization using polymethyl methacrylate(PMMA)as a matrix and neopentyl glycol diacrylate(NPGDA)as cross-linking *** cross-linked structure of the GPE was preliminarily investigated,as well as the influence of the degree of cross-linking on its phys-ical *** GPE exhibited a superior conductivity of 1.391 mS cm^(-1) at 25℃.Herein,the Li|GPE|LiNi_(0.8) Co_(0.1) Mn_(0.1) O_(2) cell has an excellent capacity retention rate of 80.7%after 150 cycles at 0.5 C in addition to a high discharge specific capacity of 203 mAh g^(-1).The structure of the cathode ma-terial is shielded from the production of byproducts during the charging and discharging of lithium-ion batteries by the cross-linked PMMA GPE.

关键词： Lithium-ion batteries In-suit polymerization Gel polymer electrolyte Polymethyl methacrylate Cross-linked network

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A regeneration strategy based on synchronous utilization in surface impurities of degradation nickel-rich material

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Progress in Natural Science:Materials International 2024年第4期34卷 710-719页

作者： Junfeng He Shijie Wang Peng Wei Jian Liu Yurong Ren School of Materials Science and Engineering Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power Battery Changzhou Key Laboratory of Intelligent Manufacturing and Advanced Technology for Power Battery Changzhou University

The LiNi0.83Co0.12Mn0.05O2（Ni-rich NCM） cathode materials have been widely studied owing to their high energy density and excellent rate capability. However, Ni-rich NCM is prone to form large amounts of lithium impurities and causes structural decline, resulting in inconvenient material storage. To this end, Li4SiO4/SiO2was used as a structural regulator to eliminate the residual lithium and convert the irreversible phase. The Li4SiO4/SiO2protective coating effectively suppresses the corrosion of the electrolyte by blocking the direct contact between the electrode and the electrolyte, while having a high air stability under the hydrophobic action. In addition, SiO2has excellent corrosion resistance, which further enhances the cyclic stability of the material. The obtained regenerated NCM material displayed a great capacity of 198.6 mAh g-1at 0.3 C and long cycling stability（capacity retention of 82.2 % after 250 cycles）. This simple repair strategy significantly reduces the loss rate in industrial production and enhances the electrochemical performance while achieving material reuse.

关键词： LiNi0.83Co0.12Mn0.05O2 Structural repair Li4SiO4 SiO2 Surface coating

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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

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Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Enhancing Structural Stability and Electrochemical Performance of Ultra-high Ni-rich Co-free Cathode via MgHPO_(4) Dual-functional Modification

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Chemical Research in Chinese Universities 2025年第2期41卷 333-342页

作者： LIN Huahui SHEN Yu WEI Li SONG Ran WU Fan WEI Peng YANG Zhenzhong REN Yurong QU Ke DING Zhengping Changzhou Key Laboratory of Intelligent Manufacturing and Advanced Technology for Power Battery Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power BatterySchool of Materials Science and EngineeringChangzhou UniversityChangzhou 213164P.R.China Key Laboratory of Polar Materials and Devices(MOE) Shanghai Center of Brain-inspired Intelligent Materials and DevicesDepartment of ElectronicsEast China Normal UniversityShanghai 200241P.R.China

Ultra-high nickel layered cathodes(Ni≥95%)have emerged as prospective candidates for next-generation lithium-ion batteries(LIBs)due to their exceptional specific capacity and ***,the commercial application of these cathodes has been hindered by several challenges,including structural instability during cycling,high sensitivity to air,and slow Li+*** this research,a one-step modification strategy was developed to simultaneously achieve Mg doping and Li_(3)PO_(4)layer coating for the ultra-high nickel *** results demonstrated that Mg doping not only alleviates lattice strain changes during the H2–H3 phase transition(H2:the second hexagonal phase;H3:the third hexagonal phase)but also serves as a structural anchor,preventing Ni^(2+)migration and occupation within the Li *** Li_(3)PO_(4)surface coating layer acts as an electrochemical shield,protecting against interfacial side reactions and enhancing the Li+diffusion *** a result,the LiNi_(0.95)Mn_(0.05)O_(2) cathode,with both internal and external modifications,demonstrates significant improvement in cycling stability(85.7%capacity retention after 100 cycles)and Li^(+)transport performance(130.6 mA·h·g^(−1) at 10 C,1 C=189.6 mA·h·g^(−1)),providing a solid foundation for the further development and application of ultra-high nickel cathodes.

关键词： Lithium-ion battery Ni-rich Co-free cathode MgHPO_(4) Surface modification

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Review on Development of Automatic Docking System for Weapons and Cabins

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Recent Patents on Engineering 2024年第2期18卷 63-87页

作者： Tang, Dedong Cheng, Chao Quan, Qiquan Deng, Zongquan Liu, Hao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Background: In the manufacturing setup process of weapons, aviation, and aerospace, docking assembly is a key component in determining manufacturing efficiency and quality. The traditional docking method uses manual alignment, which depends on the experience and operation level of the workers, so the docking accuracy is low and the installation speed is slow. In response to this problem, how to achieve automatic docking of weapons and cabins has become a key technology. Objective: The objective of this study is to provide an overview of recent key technologies for automatic docking systems and introduce their respective classification, characteristics, and development. Methods: This paper reviews the patents and products related to the key technologies of automatic docking systems. The structural features, methodological principles, control characteristics and applications of the patents and products are summarized. Results: The key technologies related to different aspects of an automatic docking system are compared and analyzed, and the structural features, and methodological principles are also summarized. The problems of the current key technologies are analyzed, and the current status of research and future directions of the automatic docking system are discussed. Conclusion: According to the key technologies related to different aspects of the automatic docking system, they can be divided into motion mechanism, pose detection technology, and computer control technology. The accuracy, compliance, and flexibility of the automatic docking system can be improved by choosing the proper key technology. Further improvements are needed in terms of fast performance, robustness and authenticity, and more patents on key technologies of automatic docking systems should be invented. © 2024 Bentham Science Publishers.

关键词： Patents and inventions

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