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Accumulated damage failure mechanism of anchoring structures under cyclic impact disturbance

International Journal of Mining Science and technology 2024年第12期34卷 1693-1709页

作者： Peng Wang Nong Zhang Jiaguang Kan Qun Wei Zhengzheng Xie Aoran Li Zhe He Jinghua Qi Xingliang Xu Changrui Duan School of Mines China University of Mining and TechnologyXuzhou 221116China Key Laboratory of Deep Coal Resource Mining(CUMT) Ministry of EducationChina University of Mining and TechnologyXuzhou 221116China School of Mechanical Engineering Jiangsu University of TechnologyChangzhou 213001China State Key Laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory for Safe Mining of Deep Coal and Environmental Protection Huainan 232001China

Cyclic impact induces ongoing fatigue damage and performance degradation in anchoring structures,ser-ving as a critical factor leading to the instability of deep *** paper takes the intrinsic spatio-temporal relationship of macro-microscopic cumulative damage in anchoring structures as the main thread,revealing the mechanism of bearing capacity degradation and progressive instability of anchoring structure under cyclic ***,a set of impact test devices and methods for the prestressed solid anchor bolt anchoring structure were developed,effectively replicating the cyclic impact stress paths in ***,cyclic impact anchoring structure tests and simulations were conducted,which clarifies the damage evolution mechanism of the anchoring *** loss follows a cubic decay func-tion as the number of impacts *** the same impact energy and pretension force,the impact resistance cycles of extended anchoring and full-length anchoring were increased by 186.7%and 280%,respectively,compared to end *** rate of internal damage accumulation is positively corre-lated with impact energy and negatively correlated with anchorage *** tensile cracks account for approximately 85%.Stress transmission follows a fluctuating *** to the extended anchoring,the maximum vibration velocity of the exposed end particles in the full-length anchoring was reduced by 59.31%.Damage evolution exhibits a pronounced cumulative mutation ***,a three-media,two-interface mechanical model of the anchoring structure was *** has been clarified that the compressive stress,tensile stress,and oscillation effect arising from rapid transi-tions between compression and tension are the primary internal factors responsible for the degradation of the anchoring structure’s bearing ***,the progressive instability mechanism of the anchoring structure under cyclic impact was *** mutual feedback and su

关键词： Cyclic impact Anchoring structure Cumulative damage Bearing capacity degradation Progressive instability

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Multi-model ensemble learning for battery state-of-health estimation:Recent advances and perspectives

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Journal of Energy Chemistry 2025年第1期100卷 739-759页

作者： Chuanping Lin Jun Xu Delong Jiang Jiayang Hou Ying Liang Zhongyue Zou Xuesong Mei State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049ShaanxiChina Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049ShaanxiChina Department of Electrical Engineering and Automation Luoyang Institute of Science and TechnologyLuoyang 471023HenanChina School of Mechanical Engineering Hangzhou Dianzi UniversityHangzhou 310018ZhejiangChina

The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational performance. Despite numerous data-driven methods reported in existing research for battery SOH estimation, these methods often exhibit inconsistent performance across different application scenarios. To address this issue and overcome the performance limitations of individual data-driven models,integrating multiple models for SOH estimation has received considerable attention. Ensemble learning(EL) typically leverages the strengths of multiple base models to achieve more robust and accurate outputs. However, the lack of a clear review of current research hinders the further development of ensemble methods in SOH estimation. Therefore, this paper comprehensively reviews multi-model ensemble learning methods for battery SOH estimation. First, existing ensemble methods are systematically categorized into 6 classes based on their combination strategies. Different realizations and underlying connections are meticulously analyzed for each category of EL methods, highlighting distinctions, innovations, and typical applications. Subsequently, these ensemble methods are comprehensively compared in terms of base models, combination strategies, and publication trends. Evaluations across 6 dimensions underscore the outstanding performance of stacking-based ensemble methods. Following this, these ensemble methods are further inspected from the perspectives of weighted ensemble and diversity, aiming to inspire potential approaches for enhancing ensemble performance. Moreover, addressing challenges such as base model selection, measuring model robustness and uncertainty, and interpretability of ensemble models in practical applications is emphasized. Finally, future research prospects are outlined, specifically noting that deep learning ensemble is poised to advance ens

关键词： Lithium-ion battery State-of-health estimation Data-driven Machine learning Ensemble learning Ensemble diversity

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Phosphorus-doping and oxygen vacancy endowing anatase TiO_(2) with excellent sodium storage performance

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Rare Metals 2022年第4期41卷 1284-1293页

作者： Hong-Shun Zhao Yan-Li Qi Kang Liang Wei-Kai Zhu Hao-Bin Wu Jian-Bin Li Yu-Rong Ren School of Materials Science and Engineering Changzhou UniversityChangzhou 213164China Changzhou Key Laboratory of Intelligent Manufacturing and Advanced Technology for Power Battery Changzhou 213164China Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power Battery Changzhou 213164China Institute for Composites Science Innovation(InCSI) School of Materials Science and EngineeringZhejiang UniversityHangzhou 310027China

Titanium dioxide is considered to be promising anode for sodium-ion batteries due to stable structure during the charge/discharge ***,its practical application is hindered by the slow electron/ion ***,phosphorus-doped anatase TiO_(2) nanoparticles with oxygen vacancies are successfully synthesized and utilized as high-performance sodium-storage *** dual strategy of phosphorus-doping and oxygen vacancies can concurrently boost electronic conductivity and adjust ion diffusion *** significantly contribute to the improved rate performance(167 mAh·g^(-1) at 20.0C)and stable cycling(95.9%after 2000 cycles at 20.0C).The proposed dual strategy can be potentially used to improve other oxide anodes for rechargeable batteries.

关键词： Titanium dioxide Phosphorus doping Oxygen vacancy Anode Sodium-ion batteries

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Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang Toshio Fukuda Qing Shi Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： Biomimetic Bio-inspired robot Neural network learning system Behavior generation

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Large-scale high uniform optoelectronic synapses array for artificial visual neural network

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Microsystems & Nanoengineering 2025年第1期11卷 247-256页

作者： Fanqing Zhang Chunyang Li Zhicheng Chen Haiqiu Tan Zhongyi Li Chengzhai Lv Shuai Xiao Lining Wu Jing Zhao State Key Laboratory of Explosion Science and Safety Protection Beijing Institute of TechnologyMinistry of Education100081 BeijingChina School of Mechatronical Engineering Beijing Institute of Technology100081 BeijingChina Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology100081 BeijingChina Laser Micro/Nano Fabrication Laboratory School of Mechanical EngineeringBeijing Institute of Technology100081 BeijingChina School of Mechanical Engineering Beijing Institute of Technology100081 BeijingChina

Recently,the biologically inspired intelligent artificial visual neural system has aroused enormous ***,there are still significant obstacles in pursuing large-scale parallel and efficient visual memory and *** this study,we demonstrate a 28×28 synaptic devices array for the artificial visual neuromorphic system,within the size of 0.7×0.7 cm 2,which integrates sensing,memory,and processing *** highly uniform floating-gate synaptic transistors array were constructed by the wafer-scale grown monolayer molybdenum disulfide with Au nanoparticles(NPs)acting as the electrons capture *** synaptic plasticity behaviors have been achieved owing to the switchable electronic storage *** excellent optical/electrical coordination capabilities were implemented by paralleled processing both the optical and electrical signals the synaptic array of 784 devices,enabling to realize the badges and letters writing and erasing ***,the established artificial visual convolutional neural network(CNN)through optical/electrical signal modulation can reach the high digit recognition accuracy of 96.5%.Therefore,our results provide a feasible route for future large-scale integrated artificial visual neuromorphic system.

关键词： optoelectronic synapses monolayer molybdenum disulfide artificial visual neural system convolutional neural network artificial visual neuromorphic systemwithin artificial visual neural network floating gate transistors synaptic plasticity

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat

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Cyborg and Bionic Systems 2023年第1期4卷 225-232页

作者： Hongzhao Xie Zihang Gao Guanglu Jia Shingo Shimoda Qing Shi Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Nagoya University Graduate School of Medicine NagoyaJapan

In this paper,we propose a novel method for emulating rat-like behavioral interactions in robots using reinforcement ***,we develop a state decision method to optimize the interaction process among 6 known behavior types that have been identified in previous research on rat *** novelty of our method lies in using the temporal difference(TD)algorithm to optimize the state decision process,which enables the robots to make informed decisions about their behavior *** assess the similarity between robot and rat behavior,we use Pearson *** then use TD-λto update the state value function and make state decisions based on *** robots execute these decisions using our dynamics-based *** results demonstrate that our method can generate rat-like behaviors on both short-and long-term timescales,with interaction information entropy comparable to that between real ***,our approach shows promise for controlling robots in robot-rat interactions and highlights the potential of using reinforcement learning to develop more sophisticated robotic systems.

关键词： robot enable similarity

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High-performance ratiometric luminescence thermometry based on NaYF4:Nd3+-Yb3+/NaYF4/NaYF4:Er3+-Yb3+ core/shell/shell nanoparticles

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Ceramics International 2025年第14期51卷 19623-19632页

作者： Shang, Fengkai Zhao, Cuijian Zhang, Tianheng Liu, Shujie Guo, Peng Wang, Yi Chen, Xin Yan, Changyu Hao, Xiaoting Xu, Wei Key Laboratory of Intelligent Perception for Agricultural Robots School of Mechanical and Electrical Engineering Shijiazhuang University Shijiazhuang050035 China School of Electrical Engineering Yanshan University Qinhuangdao066004 China Hebei Newway Electronic Technology Co. LTD Shijiazhuang050200 China

Luminescence thermometry, utilising light-emitting nanomaterials, plays a pivotal role in diverse applications. The methodology outlined in this work represents a important advancement in the design of high-performance ratiometric of novel photophysical mechanisms. In this study, a series of nanoparticles with varied structures, activated by Nd3+-Yb3+ and Er3+-Yb3+ systems, were synthesised, and the temperature dependence of their photoluminescence properties was systematically analysed. The findings reveal that, in addition to thermally enhanced energy transfer from Yb3+ to Nd3+, Nd3+ ions exhibit thermally reinforced absorption of red light emitted by Er³⁺, facilitated by phonons in NaYF4:Nd3+-Yb3+/NaYF4/NaYF4:Er3+-Yb3+ core/shell/shell nanoparticles. Consequently, the near-infrared and red emissions from Nd3+ and Er3+ ions demonstrate inverse thermal responses, enabling ratiometric thermometry. By exploiting this property, a high thermal sensitivity of up to 4.3 % K⁻1 was achieved, along with a low measurement uncertainty of approximately 0.1 K. Furthermore, the spatially separated architecture effectively inhibits energy transfer between Nd3+ and Er3+ ions, significantly enhancing their luminescence and thermometric performance. The methodology outlined in this work represents a significant advancement in the design of high-performance ratiometric luminescence thermal sensors. © 2025 Elsevier Ltd and Techna Group S.r.l.

关键词： Ytterbium compounds

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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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Crawling Gait Enables Stable Quadrupedal Locomotion in A Bioinspired Robotic Rat

Crawling Gait Enables Stable Quadrupedal Locomotion in A Bio...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Wang, Ruochao Quan, Xiaolong Xiao, Hang Du, Rongjie Qin, Boyang Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (纸本)9798350372601

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo's phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo's crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots. © 2024 IEEE.

关键词： Rats

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