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Drosophila Larvae-Inspired Soft Crawling Robot with Multimodal Locomotion and Versatile Applications

research 2025年第1期7卷 35-46页

作者： Qin Fang Jingyu Zhang Yinhui He Nenggan Zheng Yue Wang Rong Xiong Zhefeng Gong Haojian Lu State Key Laboratory of Industrial Control and Technology Zhejiang UniversityHangzhou 310027China Institute of Cyber-Systems and Control Zhejiang UniversityHangzhou 310027China Medical School of Zhejiang University Hangzhou 310027China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China Stomatology Hospital School of StomatologyZhejiang University School of MedicineZhejiang Provincial Clinical Research Center for Oral DiseasesKey Laboratory of Oral Biomedical Research of Zhejiang ProvinceCancer Center of Zhejiang UniversityEngineering Research Center of Oral Biomaterials and Devices of Zhejiang ProvinceHangzhou 310000China

Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible ***,most existing soft crawling robots typically exhibit a single-motion mode and lack diverse *** by Drosophila larvae,this paper proposes a compact soft crawling robot(weight,13 g;length,165 mm;diameter,35 mm)with multimodal locomotion(forward,turning,rolling,and twisting).Each robot module uses 4 sets of high-power-density shape memory alloy actuators,endowing it with 4 degrees of motion *** analyze the mechanical characteristics of the robot modules through experiments and simulation *** plug-and-play modules can be quickly assembled to meet different motion and task *** soft crawling robot can be remotely operated with an external controller,showcasing multimodal motion on various material *** a narrow maze,the robot demonstrates agile movement and effective maneuvering around *** addition,leveraging the inherent bistable characteristics of the robot modules,we used the robot modules as anchoring units and installed a microcamera on the robot's head for pipeline *** robot completed the inspection in horizontal,vertical,curved,and branched pipelines,adjusted the camera view,and twisted a valve in the pipeline for the first *** research highlights the robot's superior locomotion and application capabilities,providing an innovative strategy for the development of lightweight,compact,and multifunctional soft crawling robots.

关键词： multimodal locomotion versatile applications Drosophila larvae soft crawling robot weight soft crawling robots shape memory alloy actuators

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Study on frictional behavior of SiC_(f)/SiC composite clad tube clamping condition under nuclear irradiation

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Friction 2024年第5期12卷 919-938页

作者： Chenglong XIAO Liangliang SHEN Tianqi ZHU Jianbo TANG Ximing XIE Xinyu FAN Jian XU Zhiying REN School of Mechanical Engineering Zhejiang University of TechnologyHangzhou310023China Engineering Laboratory of Advanced Energy Materials Ningbo Institute of Material Technology and EngineeringChinese Academy of SciencesNingbo315201China State Key Laboratory of Fine Chemicals Liaoning High-Performance Polymer Engineering Research CenterSchool of Chemical EngineeringDalian University of TechnologyDalian116024China School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou350116China School of Computer Science and Technology Shandong UniversityQingdao266237China Aviation Industry Corporation of China Ltd.Beijing100028China

Silicon carbide fiber reinforced silicon carbide matrix(SiC_(f)/SiC)composite is the key cladding material of nuclear fuel,which determines the safety and reliability of nuclear fuel storage and *** replacement of its storage and transportation scenario needs to be completed by the manipulator,but the application of SiC_(f)/SiC wear,fracture,and nuclear leakage in the snatching process of brittle-flexible-rigid contact in the irradiation environment has been seriously restricted due to unclear understanding of the damage ***,the effects of irradiation dose and clamping load on the friction characteristics of the contact interface between SiC_(f)/SiC clad tube are studied in this paper,and the effects of irradiation parameters and clamping force on the static friction coefficient of the contact interface between the clad tube and flexible nitrile are *** on the Greenwood-Williamson tribological model,a numerical model of the shape and structure of the contact micro-convex at the micro-scale of the clamping interface is constructed by introducing the multi-surface integral,and finally verified by *** research results show that there is a unique“Irradiation suppression zone”under the clamping condition of SiC_(f)/SiC cladding tube under the nuclear irradiation environment,and the growth of static friction coefficient slows down until stagnates after irradiation reaches a certain extent(600 kGy),and there will be a decline when the irradiation dose continues to increase,among which the clamping force of 15.2 N within the irradiation interval of 1,000 kGy can meet the safety of nuclear environment *** results of this paper can provide an important theoretical basis and application guidance for the safe operation of SiC_(f)/SiC cladding tubes in the storage and transportation clamping process.

关键词： SiC_(f)/SiC Clad tube nuclear irradiation conditions Greenwood-Williamson tribological model multi-surface integral

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control Flow Divergence Optimization by Exploiting Tensor Cores 24

Control Flow Divergence Optimization by Exploiting Tensor Co...

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61st ACM/IEEE Design automation Conference, DAC 2024

作者： Pang, Weiguang Jiang, Xu Liu, Songran Qiao, Lei Fu, Kexue Gao, Longxiang Yi, Wang University of Electronic Science and Technology of China China Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China School of Computer Science and Engineering Northeastern University China Beijing Institute of Control Engineering Beijing China Uppsala University Sweden

ISBN: (纸本)9798400706011

Kernels are scheduled on Graphics Processing Units (GPUs) in the granularity of GPU warp, which is a bunch of threads that must be scheduled together. When executing kernels with conditional branches, the threads within a warp may execute different branches sequentially, resulting in a considerable utilization loss and unpredictable execution time. This problem is known as the control flow divergence. In this work, we propose a novel method to predict threads' execution path before the launch of the kernel by deploying a branch prediction network on the GPU's tensor cores, which can efficiently parallel run with the kernels on CUDA cores, so that the divergence problem can be eased in a large extent with the lowest overhead. Combined with a well-designed thread data reorganization algorithm, this solution can better mitigate GPUs' control flow divergence problem. © 2024 Copyright is held by the owner/author(s). Publication rights licensed to ACM.

关键词： Tensors

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Energy-Optimized Offloading of Delay-Sensitive Tasks in Hybrid Edge-Cloud Computing

Energy-Optimized Offloading of Delay-Sensitive Tasks in Hybr...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Yuan, Haitao Wang, Shen Ma, Yaofei Bi, Jing Yang, Jinhong Zhang, Jia Zhou, MengChu School of Automation Science and Electrical Engineering Beihang University Beijing100191 China College of Computer Beijing University of Technology Beijing100124 China Cssc Systems Engineering Research Institute Beijing China Southern Methodist University Dept. of Computer Science DallasTX75275 United States New Jersey Institute of Technology Dept. of Electrical and Computer Engineering NewarkNJ07102 United States

ISBN: (纸本)9781665410205

Currently, a cloud-edge collaborative system combines almost unlimited storage and computing resources where tasks can be migrated to high-performance servers in edge servers or the cloud. However, resource allocation and task offloading present big challenges due to the competition among mobile devices (MDs) for communication and computing resources of edge servers. Therefore, it is significant to properly offload MDs' tasks to edge servers or the cloud. This work proposes a collaborative edge-cloud architecture, including a centralized cloud, edge servers, and MDs. Then, this work jointly considers computing power, task sizes, computing resources, transmission power of MDs, transmission rates, computing power, transmission power, computing resource of edge servers, and computing resource of the cloud. Considering the abovementioned factors, this work designs a mixed-integer non-linear programming problem. To solve it, a Genetic Simulated annealing-based Particle Swarm Optimization (GSPSO) algorithm is proposed to obtain the best solution. Building upon it, this work proposes an energy-minimized task offloading and resource allocation strategy, thereby minimizing the system's energy consumption while ensuring strict task response time limits. Experimental results show that GSPSO reduces the system's energy by 66.34%, 34.65%, and 4.95% more than particle swarm optimization (PSO), self-adaptive PSO, and Tyrannosaurus optimization. © 2024 IEEE.

关键词： Mobile edge computing

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Microstructural development and wear properties analyses of Fe-based coatings on bainitic steel by laser cladding

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Journal of Iron and Steel research International 2022年第4期29卷 687-697页

作者： Run-feng Peng Min Zhang Yu-hang Li Yue-long Yu Ying-chun Guan Zhun-li Tan School of Mechanical Electronic and Control EngineeringMaterials Science&Engineering Research CenterBeijing Jiaotong UniversityBeijing 100044China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China National Engineering Laboratory of Additive Manufacturing for Large Metallic Components Beihang UniversityBeijing 100083China Hefei Innovation Research Institute of Beihang University Hefei 230013AnhuiChina

Wear-resistant Fe-based coating was prepared by high-speed laser cladding on bainitic *** influence of laser scanning speed on microstructure,microhardness,and wear resistance of cladding coating was *** electron microscopy results showed that the coating was mainly composed of dendrite and *** electron microscope images were converted by binary algorithm to facilitate statistics of dendrite and interdendrite *** results indicate that by accelerating the scanning speed,the interdendrite eutectic structure *** to energydispersive X-ray spectroscopy and X-ray diffraction results,the interdendrite was enriched with elements Cr,Mo,and B,and main structures in the coating wereα-Fe,γ-Fe,and M(23)C_(6).The hardness of the coating was much higher than that of the *** diffused from coating to substrate,resulting in a transition zone of ***,with an increase in the scanning speed,the diffusion of elements at the coating–matrix interface decreased,while the hardness and wear resistance of the coating *** refinement and interdendrite(γ-Fe,M_(23)C_(6))increasing due to high scanning speed were the major contributors to the increase in hardness and wear resistance.

关键词： Laser cladding Microstructure Wear property Fe-based coating Bainitic steel

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Energy-Efficient and Latency-Optimized Computation Offloading with Improved MOEA for Industrial Internet of Things

Energy-Efficient and Latency-Optimized Computation Offloadin...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Zhai, Jiahui Bi, Jing Yuan, Haitao Yang, Jinhong Zhang, Jia Zhou, MengChu College of Computer Beijing University of Technology Beijing100124 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Cssc Systems Engineering Research Institute Beijing China Southern Methodist University Dept. of Computer Science DallasTX75275 United States New Jersey Institute of Technology Dept. of Electrical and Computer Engineering NewarkNJ07102 United States

ISBN: (纸本)9781665410205

The unprecedented prosperity of the industrial Internet of Things has thoroughly facilitated the transition from traditional manufacturing towards intelligent manufacturing. In industrial environments, resource-constrained industrial equipments (IEs) often fail to meet the diverse demands of numerous compute-intensive and latency-sensitive tasks. Mobile edge computing has emerged as an innovative paradigm for lower latency and energy consumption for IEs. However, computational offloading and coordinating of multiple IEs with diverse task types and multiple edge nodes in industrial environments poses challenges. To address this challenge, we propose a multi-task approach encompassing scientific and concurrent workflow tasks to achieve energy-efficient and latency-optimized computation offloading. Furthermore, this work designs an improved Quantum Multi-objective Grey wolf optimizer with Manta ray foraging and Associative learning (QMGMA) to optimize multi-task computation offloading. Comprehensive experiments demonstrate the superior efficiency and stability of QMAGA compared to state-of-the-art algorithms in balancing latency and energy consumption. QMAGA improves average inverse generation distance and average spacing by 37% and 31% on average than multi-objective grey wolf optimizer, non-dominated sorting genetic algorithm II, and multi-objective multi-verse optimization, proving the convergence and diversity of its non-dominated solutions. © 2024 IEEE.

关键词： Smart manufacturing

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Optimizing Polynomial-Time Solutions to a Network Weighted Vertex Cover Game

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 512-523页

作者： Jie Chen Kaiyi Luo Changbing Tang Zhao Zhang Xiang Li the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004 Yuxi Middle School Taizhou 317399China IEEE the College of Physics and Electronics Information Engineering Zhejiang Normal UniversityJinhua 321004China the College of Mathematics and Computer Science Zhejiang Normal UniversityJinhua 321004China the Adaptive Networks and Control Laboratory Department of Electronic EngineeringFudan UniversityShanghai 200433 the Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201210China

Weighted vertex cover(WVC)is one of the most important combinatorial optimization *** this paper,we provide a new game optimization to achieve efficiency and time of solutions for the WVC problem of weighted *** first model the WVC problem as a general game on weighted *** the framework of a game,we newly define several cover states to describe the WVC ***,we reveal the relationship among these cover states of the weighted network and the strict Nash equilibriums(SNEs)of the ***,we propose a game-based asynchronous algorithm(GAA),which can theoretically guarantee that all cover states of vertices converging in an SNE with polynomial ***,we improve the GAA by adding 2-hop and 3-hop adjustment mechanisms,termed the improved game-based asynchronous algorithm(IGAA),in which we prove that it can obtain a better solution to the WVC problem than using a the ***,numerical simulations demonstrate that the proposed IGAA can obtain a better approximate solution in promising computation time compared with the existing representative algorithms.

关键词： Game-based asynchronous algorithm(GAA) game optimization polynomial time strict Nash equilibrium(SNE) weighted vertex cover(WVC)

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Reliability Calculation Method of Ship Distributed Degaussing System Considering with Power Module Backup and Winding Reconstruction

Reliability Calculation Method of Ship Distributed Degaussin...

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2023 International Joint Conference on Civil and Marine engineering, JCCME 2023

作者： Wang, Jianxun Zhao, Jie Xiao, Hanchen Zhou, Shiying Yang, Wentie Jiang, Weibin Hubei Key Laboratory of Marine Electromagnetic Detection and Control Wuhan Second Ship Design and Research Institute Wuhan China School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (纸本)9781839539954

With the large size of modern ships and the increasing requirements of naval demagnetization technology, the demagnetization system develops to distributed type, and the system reliability can be improved by modular demagnetization power supply module redundancy backup and demagnetization winding reconfiguration design in the distributed demagnetization system. In order to calculate the reliability of the distributed demagnetization system, the typical design principles of modular demagnetization power module backup and demagnetization winding reconfiguration are analyzed, and the design schemes such as 1+1 backup or Nm+1 backup for the demagnetization power supply, overall N-1 reconfiguration for the longitudinal winding, no reconfiguration for the single-layer transverse winding or vertical winding, and local N-1 reconfiguration for the double-layer transverse winding or vertical winding are determined. Based on the basic reliability model and the above design principles, the reliability calculation model and method applicable to the distributed demagnetization system are established, and the reliability enhancement capability of the demagnetization system is analyzed and calculated as an example, and the calculation method can be used to guide the reliability design of the demagnetization system. © The Institution of engineering & Technology 2023.

关键词： Degaussing

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Analysis on Coupling Static Magnetic Field of Underwater Electric Dipole

Analysis on Coupling Static Magnetic Field of Underwater Ele...

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2023 International Joint Conference on Civil and Marine engineering, JCCME 2023

作者： Wang, Jianxun Zhao, Jie Xiao, Hanchen Chen, Meng Hubei Key Laboratory of Marine Electromagnetic Detection and Control Wuhan Second Ship Design and Research Institute Wuhan China School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (纸本)9781839539954

By the means of analytic expression of underwater electric dipole’s coupling static magnetic field in three layers model of air, seawater and seabed, the distributing characteristics of underwater coupling static magnetic and high altitude coupling static magnetic field are analyzed. Combined with the detection level of underwater and aviation, the detection feasibility based on the corruption related magnetic field is analyzed. By comparing with static magnetic field caused by magnetic materials, it is pointed out that when degaussing technology reaches a certain level, the corruption related magnetic field may become the main impact factor of magnetic field detection. © The Institution of engineering & Technology 2023.

关键词： Magnetic fields

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Hybrid Robust Sliding Mode and PI-controller for Stand-Alone Object’s Power Supply 25

Hybrid Robust Sliding Mode and PI-Controller for Stand-Alone...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Lyapunov, Danil Y. Fedyanin, Alexandr L. Pham, Trong H. Pravikova, Alexandra A. Shilin, Aleksandr A. Kremzukov, Yuriy A. Division for Power and Electrical Engineering National Research Tomsk Polytechnic University Tomsk Russia Seversk Technological Institute - branch of State Autonomous Educational Institution of Higher Education National Research Nuclear National University MEPhi Seversk Russia Research Institute of Automation and Electromechanics Tomsk State University of Control Systems and Radioelectronics Tomsk Russia

ISBN: (纸本)9798350389234

This paper delves into the problem of robust control of a power supply for a stand-alone remotely operated object, having power equipment onboard. Such objects are extensively used in oil and gas exploration, their production, offshore research and related problem areas. Power equipment generally involves both lighting and electric drives to provide remote operation of manipulators, thrusters and other electric components. Providing stable voltage, delivered to the object via long cables, represents an up-to-date problem for power supply developers. research efforts, outlined in the present paper, suggest one of possible solution of this problem, namely, involving hybrid robust controller. This controller combines both sliding mode and conventional PI controllers in its structure. Such a solution provides not only stable voltage within the error band of ±1% with respect to a rated value of 600 V but also voltage surge mitigation when electric load changes stepwise. The voltage ripple ratio does not exceed 0.5%. Matlab Simulink model of the power supply confirmes t he a pplicability o f the designed hybrid controler. © 2024 IEEE.

关键词： Robust control

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