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Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites Materials Science

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Effect of Al on the sealing performance of Al-Al2O3 composite materials for intermediate temperature planar SOFC application

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Ceramics International 2025年第14期51卷 19524-19534页

作者： Zhao, Xuepeng Wang, Xiaochun Wu, Biao Dang, Siyuan Li, Li Wang, Wei Gu, Yinwen Pu, Jian School of Automobile and Traffic Engineering Jiangsu University of Technology Jiangsu Changzhou213001 China Center for Fuel Cell Innovation School of Materials Science and Engineering State Key Laboratory of Material Processing and Die & Mould Technology Huazhong University of Science & Technology Hubei Wuhan430074 China Jiangsu Jingci Intelligent Sensing Technology Research Insitute Co. LTD Jiangsu Changzhou213001 China

To satisfy the requirements of planar solid oxide fuel cell (SOFC) in reliable gas tightness for the separation of fuel and oxidant, Al-Al2O3 composite seals with various Al amounts of 10–30 wt% are fabricated in this work and afterwards, effect of Al on their thermal expansion behavior and gas leakage rate are investigated at different temperatures. It is demonstrated that the presented Al-Al2O3 composite seal containing 15 wt% Al (denoted as A15) exhibits a low gas leakage rate of 0.021 sccm cm−1 under input gas pressure of 20.7 kPa between 650 °C and 800 °C. Further studies show that stable leakage rates can be maintained below 0.027 sccm cm−1 after enduring 10 thermal cycles or holding for 100 h test at 750 °C, revealing that a small amount of Al addition could significantly improve the sealing performance and thermal cycle stability of Al-Al2O3 composite seal. XRD and SEM results suggest that A15 has excellent structural stability and interfacial chemical compatibility, which can be attributed to the continuous oxidation of Al powders blocking the leakage paths and the formation of the well bonding interface between interconnect/seal/cell anode. It is also found that the open circuit voltage (OCV) of 1-cell stack is 1.13 V at 750 °C for 100 h and undetectable voltage degradation are observed which means the A15 composite seal has excellent gas tightness for 1-cell stack. The experimental results confirm the promising potential of Al-Al2O3 composite seal in SOFC application, which provides a new direction for the development of high performance seal material in the future. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Aluminum oxide

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Simulation of Gas Oil Hydrotreater Heat Exchange Tube and Crystallization Prediction of NH_(4)Cl by Thermodynamic Equilibrium

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China Petroleum Processing & Petrochemical technology 2023年第2期25卷 142-154页

作者： Jin Haozhe Liu Xinyu Liu Xiaofei Gu Youjie Li Xiaojun Fu Dexiao Institute of Flow-Induced Corrosion Zhejiang Sci-Tech UniversityHangzhou 310018 Key Laboratory of Fluid Transmission Technology of Zhejiang Province Zhejiang Sci-Tech UniversityHangzhou 310018 Institute of Flow-Induced Corrosion and Intelligent Prevention and Control Changzhou UniversityChangzhou 213164

The hydrotreater system heat exchanger is one of the main pieces of heat exchange equipment in petrochemical *** recent years,oil resources have shown a deterioration trend of high sulfur and high acid content,with corrosion risk being prominent in oil *** the multi-medium flow corrosion risk of the hydrotreater heat exchanger pipeline in a petrochemical enterprise as the research object,based on the parameter characteristics of corrosive NH_(3) and HCl media under a high-temperature and high-pressure environment,the ammonium salt crystallization and deposition mechanism under multi-phase flow is *** thermodynamic equilibrium curve is modified based on the thermodynamic principle and fugacity coefficient variation,and the prediction model of ammonium chloride crystallization in hydrotreater heat exchanger under high temperature and high pressure is constructed according to the *** study uses the mixture model,the flow-thermal coupling method,and the discrete phase model method to carry out the numerical simulation of multiphase flow and the numerical prediction of particle distribution characteristics in the heat exchanger pipeline of the hydrotreater heat exchange equipment,so as to realize the quantitative prediction of the particle crystallization deposition distribution in the *** results show that with the decrease of temperature,the crystallization occurs first on both sides of the center of the tube bundle,and more crystallization occurs in the lower half of the U-shaped tube,which may seriously lead to problems such as pipe blockage and under-deposit corrosion.

关键词： hydrotreating processing process modeling thermodynamic equilibrium ammonium salt crystallization numerical simulation and prediction

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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2024 IEEE International Conference on Control Science and Systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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A Prosthetic Hand System with Human-Like Grasping by Combining EMG and Visual Information 30

A Prosthetic Hand System with Human-Like Grasping by Combini...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Zheng, Yue Chen, Xinxing Tian, Lan Li, Xiangxin Zhang, Haoshi Jiang, Xugang Li, Guanglin Fu, Chenglong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems China

ISBN: (纸本)9798350391916

This paper proposed a novel prosthetic hand system integrated with a designed hybrid control method for achieving human-like grasping. The system design has been elaborated, including the mechanism design of a humanoid prosthetic hand equipped with multimodal sensing capabilities, a multi-channel EMG collector, a sensory feedback device, and a real-time central processing unit. A hybrid control method that combines electromyogram (EMG) and visual information was proposed to recognize the control intention of the system user. Preliminary verification of grasping experiments had been conducted, which proved the effectiveness of the prosthetic hand system and the hybrid control method. The development of this system aims to enhance the control performance and perceptual interaction capabilities of prosthetic hands while addressing limitations encountered in traditional myoelectric prosthetic hands. Besides, it could serve as a validation platform for assessing the control performance of diverse algorithms applied in practical applications. © 2024 IEEE.

关键词： Sensory feedback

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Autonomous drilling and deburring processing planning method of multi-robot systems

Autonomous drilling and deburring processing planning method...

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2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2025

作者： Zhang, Tianyi Wang, Yongqing Li, Te Liang, Bochao Shi, Shaohan Liu, Haibo Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing Dalian116024 China Dalian University of Technology Dalian 116024 State Key Laboratory of High-Performance Precision Manufacturing Intelligent Manufacturing Longcheng Laboratory Changzhou213164 China

ISBN: (纸本)9798331516857

Large workpieces are characterized by enormous size and complex structures. Traditional single-machine manufacturing methodologies encounter challenges such as inefficiency, inconsistent quality, and spatial constraints. Conversely, multi-robot systems exhibit high processing flexibility, providing a suitable foundation for producing large workpieces. However, as the number of tasks and robots increases, programming methods that rely on human instruction will become increasingly complex and inefficient. Consequently, this paper proposes a multi-process trajectory planning procedure for multi-robot systems. This paper realizes multi-robot and multi-task allocation, path planning, and collision avoidance based on the distributed optimization strategy of predicting subsequent constraints. The gray wolf algorithm, augmented with local search strategies, is utilized for task allocation and path planning. The processing trajectory is further optimized by rotating the starting point and task process direction. Ultimately, a delay-waiting-based time scheduling algorithm is employed to ensure the safety and reliability of the trajectory. This paper validates the planning efficacy of the entire process through simulations. The results validate the effectiveness of the proposed procedure in planning processing trajectories for large workpieces, ensuring optimal processing efficiency while maintaining the safety and reliability of the trajectory. © 2025 IEEE.

关键词： Multipurpose robots

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Leveraging large language models for comprehensive locomotion control in humanoid robots design

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Biomimetic Intelligence & robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

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Process planning and contour-based error compensation for precision grinding of miniature scalpels

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先进制造进展（英文版） 2024年第1期12卷 108-123页

作者： Cheng Fan Cao-Yang Xue Jun Zhao Wei Jiang Wen-Ge Han Lei Zhang Li-Ning Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical EngineeringSoochow UniversitySuzhou 215021JiangsuPeople's Republic of China Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical and Electrical EngineeringZhejiang UniversityHangzhou 310027People's Republic of China State Key Laboratory of Intelligent Equipment and Manufacturing School of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023People's Republic of China

Miniature scalpels are mainly used in microsur-geries such as ophthalmic and cardiovascular *** size of a miniature scalpel is only a few millimeters,and the precision of the blade shape is high,which makes pro-duction of miniature scalpels extremely *** study proposes a new sharpening process for grinding miniature scalpels on a four-axis machine tool.A post-processing algo-rithm for a four-axis grinding machine based on a kinemat-ics model is *** then propose a corresponding parameter calibration method for the parameters used in the kinematics *** of possible errors in the param-eter calibration,a contour-based error compensation method is proposed for accurate adjustments to the edge shape fol-lowing *** can solve the problem of large devia-tions between the actual edge shape after grinding and the ideal edge *** effectiveness of the proposed process planning and error compensation method is verified experi-mentally,and the grinding process parameters of the minia-ture scalpel are optimized to improve its surface processing *** sharpness of the optimized miniature scalpel is less than 0.75 N,and the blade shape is symmetrical,which meets the technical requirements of miniature scalpels.

关键词： Miniature scalpel Sharpening Kinematics Error compensation Grinding

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Modeling of the Constant-Current Stimuli Response of a Bio-Robot for Long-Term Motion Control

Modeling of the Constant-Current Stimuli Response of a Bio-R...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhou, Jie Fang, Yuan Chen, Yang Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

ISBN: (纸本)9781665481090

Bio-robots continue to receive attention because of their small size and low power consumption. Unfortunately, it currently faces two major obstacles before practical application. The first is the habituation issue, insects are difficult to be effectively controlled for a long time by electrical stimuli signals. The other one is the lack of model for motion control. In this research, we established a stimuli-response model for cockroach bio-robot based on long time current. A more convenient optic lobe implantation method has been proposed, which has lower attenuation and better stimuli effect. Constant electrical stimuli also significantly increased the number of effective controls for crawling. A cockroach bio-robot stimuli distance response model was established and validated with experiment data. Five parameters were including in this model, namely sex, length, weight, current amplitude and equivalent stiumated-number. This model can predict the movement distance of biological robots well. © 2024 IEEE.

关键词： Microrobots

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic Systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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