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In Situ Alloying Enabled by Active Liquid Metal Filler for Self-Healing Composite Polymer Electrolytes

Angewandte Chemie 2024年第47期136卷

作者： Dr. Kai Wu Dr. Zhengyu Ju Dr. Bowen Zhang Prof. Amy C. Marschilok Prof. Esther S. Takeuchi Prof. Kenneth J. Takeuchi Prof. Guihua Yu Materials Science and Engineering Program and Walker Department of Mechanical Engineering The University of Texas at Austin 78712 Austin TX USA Institute of Energy Sustainability Environment and Equity Stony Brook University 11794 Stony Brook NY USA Department of Chemistry Stony Brook University 11794 Stony Brook NY USA Interdisciplinary Science Department Brookhaven National Laboratory 11973 Upton NY USA Department of Materials Science and Chemical Engineering Stony Brook University 11794 Stony Brook NY USA

Solid inorganics, known for kinetically inhibiting polymer crystallization and enhancing ionic conductivity, have attracted significant attention in solid polymer electrolytes. However, current composite polymer electrolytes (CPEs) are still facing challenges in Li metal batteries, falling short of inhibiting severe dendritic growth and resulting in very limited cycling life. This study introduces Ga 62.5 In 21.5 Sn 16 (Galinstan) liquid metal (LM) as an active liquid alternative to conventional passive solid fillers, aiming at realizing self-healing protection against dendrite problems. Compared to solid inorganics, for example silica, LM droplets could more significantly reduce polymer crystallinity and enhance Li-ion conductivity due to their liquid nature, especially at temperatures below the polymer melting point. More importantly, LMs are unraveled as dynamic chemical traps, which are capable of blocking and consuming lithium dendrites upon contact via in situ alloying during battery operation and further inhibiting dendritic growth due to the lower deposition energy barrier of the formed Li-LM alloy. As a proof of concept, by strategically designing an asymmetric CPE with the active LM filling, a solid-state Li/LiFePO 4 battery achieves promising full-cell functionality with notable rate performance and stable cycle life. This active filler-mediated self-healing approach could bring new insights into the battery design in versatile solid-state systems.

关键词： Solid-state battery Composite polymer electrolyte Liquid metal Lithium-metal battery Li dendrite

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Design and kinematics of a 3-DOF compliant triglide micromanipulator

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IOP Conference Series: Materials Science and engineering 2021年第1期1080卷

作者： Suraj Kumar Mishra C S Kumar Research Scholar Robotics and Intelligent Systems Laboratory Mechanical Engineering Department Indian Institute of Technology Kharagpur Kharagpur India Professor Robotics and Intelligent Systems Laboratory Mechanical Engineering Department Indian Institute of Technology Kharagpur Kharagpur India

This paper proposes a novel 3-degrees of freedom (DOF) compliant parallel micromanipulator. The design of the mechanism is based on triglide parallel manipulator. The compliant version of the triglide is prepared by making use of flexure joints. Displacement amplifiers are incorporated in the design to increase range of motions. The pseudo-rigid-body modeling technique is then used to formulate and solve the inverse kinematic problem for the design. To check the correctness and accuracy of the analytical kinematic model FEA simulations are performed in Abaqus-6.14 environment. Simulation results reveal that the proposed micromanipulator can perform different motions very effectively. Additionally, it is found that results predicted by the analytical model conform very closely to the simulation outcomes. The errors are very low, and the motions involve negligible parasitic motions.

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Directional compliance in obstacle-aided navigation for snake robots

arXiv

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arXiv 2020年

作者： Wang, Tianyu Whitman, Julian Travers, Matthew Choset, Howie Department of Mechanical Engineering Carnegie Mellon University PittsburghPA15213 United States Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful motion. This is especially true in the types of terrains considered in this work: environments full of unmodeled features that even the best of maps would not capture, motivating us to develop closed-loop controls to react to those features. To accomplish this, this work uses proprioceptive sensing, mainly the force information measured by the snake robot’s joints, to react to unmodeled terrain. We introduce a biologically-inspired strategy called directional compliance which modulates the effective stiffness of the robot so that it conforms to the terrain in some directions and resists in others. We present a dynamical system that switches between modes of locomotion to handle situations in which the robot gets wedged or stuck. This approach enables the snake robot to reliably traverse a planar peg array and an outdoor three-dimensional pile of rocks. Copyright © 2020, The Authors. All rights reserved.

关键词： Piles

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A study on modelling and analysis of 6-DOF industrial robot using ADAMS

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AIP Conference Proceedings 2023年第1期2680卷

作者： Amit Talli Ayub Ahmed Janvekar Ahmed A. Hussien Isam Qasem Pramodkumar S. Kataraki Mazlan Mohamed Hugeng Hugeng Automation and Robotics KLE Technological University Hubli – 580031 INDIA School of Mechanical Engineering VIT University Chennai Tamil Nadu - 600127 INDIA Department of Mechanical Engineering Al-Huson University College Al-Balqa Applied University Al-Huson Irbid JORDAN School of Mechanical Engineering Reva University Rukmini Knowledge Park Kattigenahalli Yelahanka Bengaluru – 560064 Karnataka INDIA Advanced Material Research Cluster Faculty of Bioengineering and Technology Jeli Campus Universiti Malaysia Kelantan Jeli 17600 MALAYSIA Electrical Engineering Department Universitas Tarumanagara Jl. Letjen S. Parman No. 1 Jakarta 11440 INDONESIA

In this paper, the modeling of an industrial robot is presented. The simulation of an industrial robot is carried out using the ADAMS multibody system. The computer-aided design model of an industrial robot is imported into ADAMS. The imported model in ADAMS is prepared for the simulation by adding markers or frames to the rigid bodies of an industrial robot. The relationship between the rigid bodies is established by applying constraints in ADAMS. The STEP function from the function builder is used to move the rigid bodies of an industrial robot. The STEP function is an expression that uses the initial and final conditions to create a smooth motion. The joint limits of an industrial robot are specified in the STEP function to trace the path of an end-effector, which represents the workspace of an industrial robot. Furthermore, the pose of an industrial robot using STEP expression is investigated in the postprocessor.

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Can I pour into it? Robot imagining open containability affordance of previously unseen objects via physical simulations

arXiv

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arXiv 2020年

作者： Wu, Hongtao Chirikjian, Gregory S. The Laboratory for Computational Sensing and Robotics The Johns Hopkins University BaltimoreMD21218 United States The Department of Mechanical Engineering National University of Singapore Singapore117575 Singapore

Open containers, i.e., containers without covers, are an important and ubiquitous class of objects in human life. In this letter, we propose a novel method for robots to "imagine" the open containability affordance of a previously unseen object via physical simulations. The robot autonomously scans the object with an RGB-D camera. The scanned 3D model is used for open containability imagination which quantifies the open containability affordance by physically simulating dropping particles onto the object and counting how many particles are retained in it. This quantification is used for open-container vs. non-open-container binary classification (hereafter referred to as open container classification). If the object is classified as an open container, the robot further imagines pouring into the object, again using physical simulations, to obtain the pouring position and orientation for real robot autonomous pouring. We evaluate our method on open container classification and autonomous pouring of granular material on a dataset containing 130 previously unseen objects with 57 object categories. Although our proposed method uses only 11 objects for simulation calibration, its open container classification aligns well with human judgements. In addition, our method endows the robot with the capability to autonomously pour into the 55 containers in the dataset with a very high success rate. We also compare to a deep learning method. Results show that our method achieves the same performance as the deep learning method on open container classification and outperforms it on autonomous pouring. Moreover, our method is fully explainable. Copyright © 2020, The Authors. All rights reserved.

关键词： Containers

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Examination of appearance conditions of singular stress fields at the vertex and along the side of interface in prismatic butt joint

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Journal of Japan Institute of Electronics Packaging 2020年第2期23卷 155-165页

作者： Miyazaki, Tatsujiro Sato, Keisuke Fujiwara, Takahiro Noda, Nao-Aki Sano, Yoshikazu Energy and Environment Program School of Engineering Faculty of Engineering University of the Ryukyus 1 Senbaru Nishihara-cho Nakagami-gun Okinawa903-0213 Japan Department of Mechanical Systems Engineering Graduate School of Engineering and Science University of the Ryukyus 1 Senbaru Nishihara-cho Nakagami-gun Okinawa903-0213 Japan Department of Mechanical Engineering Graduate School of Engineering Kyushu Institute of Technology 1-1 Sensui-cho Tobata-ku Kitakyushu-shi Fukuoka804-8550 Japan

In this paper, we discuss the bad pair condition causing a singular stress at a vertex of the interface in three dimensional (3D) prismatic butt joints in comparison with the bad pair condition along the side. 3D finite element (FE) eigenanalysis is applied to obtain the singular index. We found that the bad pair condition at a vertex is slightly different from the well-known 2D bad pair condition α(α- 2β) > 0 , which can be expressed using Dundurs' parameter (α, β). It should be noted that in most cases the bad pair can be judged by (α, β) except for some cases where the bad pair depends on the material combination even under the same (α, β). To clarify the difference, the bad pair conditions are compared on the (α, β) diagram. For convenience, a simple expression for a bad pair is proposed on the basis of the theoretical consideration, and the validity is confirmed numerically. We also confirm that the bad pair condition along the side of the interface can be expressed using Dundurs' parameter as α(α- 2β) > 0 . © 2020 Japan Institute of Electronics Packaging. All rights reserved.

关键词： Stresses

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Coarse-Grid Selection Using Simulated Annealing

arXiv

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arXiv 2021年

作者： Zaman, Tareq U. MacLachlan, Scott P. Olson, Luke N. West, Matt Scientific Computing Program Memorial University of Newfoundland NL Canada Department of Mathematics and Statistics Memorial University of Newfoundland NL Canada Department of Computer Science University of Illinois at Urbana-Champaign IL United States Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign IL United States

Multilevel techniques are efficient approaches for solving the large linear systems that arise from discretized partial differential equations and other problems. While geometric multigrid requires detailed knowledge about the underlying problem and its discretization, algebraic multigrid aims to be less intrusive, requiring less knowledge about the origin of the linear system. A key step in algebraic multigrid is the choice of the coarse/fine partitioning, aiming to balance the convergence of the iteration with its cost. In work by MacLachlan and Saad [1], a constrained combinatorial optimization problem is used to define the "best" coarse grid within the setting of a two-level reduction-based algebraic multigrid method and is shown to be NP-complete. Here, we develop a new coarsening algorithm based on simulated annealing to approximate solutions to this problem, which yields improved results over the greedy algorithm developed previously. We present numerical results for test problems on both structured and unstructured meshes, demonstrating the ability to exploit knowledge about the underlying grid structure if it is available. © 2021, CC BY.

关键词： Simulated annealing

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Extreme Learning Machine Based-Shear Stress Model of Magnetorheological Fluid for a Valve Design 6th

Extreme Learning Machine Based-Shear Stress Model of Magneto...

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6th International Conference and Exhibition on Sustainable Energy and Advanced Materials, ICE-SEAM 2019

作者： Bahiuddin, Irfan Fatah, Abdul Yasser Abd Mazlan, Saiful Amri Imaduddin, Fitrian Ariff, Mohd Hatta Mohammed Utami, Dewi Nazmi, Nurhazimah Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Jalan Sultan Yahya Petra Kuala Lumpur Wilayah Persekutuan Kuala Lumpur54100 Malaysia Department of Mechanical Engineering Vocational College Universitas Gadjah Mada Jl. Yacaranda Sekip Unit IV Yogyakarta Daerah Istimewa Yogyakarta55281 Indonesia Razak Faculty of Technology and Informatics Universiti Teknologi Malaysia Kuala Lumpur Malaysia Mechanical Engineering Program Faculty of Engineering Universitas Sebelas Maret Jl. Ir. Sutami 36 A Kentingan SurakartaCentral Java57126 Indonesia

ISBN: (纸本)9789811544804

Magnetorheological fluid (MRF) models are important tools in the design of the material based-valve in a damper. Although Bingham Plastic and polynomial models are quite widely employed, these data-driven models have disadvantages in term of the accuracy and narrow applicable operating conditions, including magnetic field and shear rate. Therefore, this paper aims to utilize an extreme learning machine (ELM) based-shear stress model to design an magnetorheological (MR) valve. Firstly, an MRF model of MRF 132DG is built using rotational rheometer test results. Secondly, the model is employed to model a meandering MR valve drop pressure utilizing the known design parameters and a finite element magnetic method (FEMM) results. The comparison of the steady state pressure between the simulation and experimental results (in literature) has shown a good agreement in term of the pattern and accuracy with error of less than 3%. In summary, ELM has shown its potential to model MRF behavior while employing it to an MR device. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Extreme learning machine Machine learning Magnetorheological fluids Meandering magnetorheological valve

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Design of the Playskin Airtm: A user-controlled, soft pneumatic exoskeleton

Design of the Playskin Airtm: A user-controlled, soft pneuma...

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2019 Design of Medical Devices Conference, DMD 2019

作者： Li, Bai Greenspan, Ben Mascitelli, Thomas Raccuglia, Michael Denner, Kayleigh Duda, Raymond Lobo, Michele A. Physical Therapy Department and Biomechanics and Movement Science Program University of Delaware NewarkDE United States Mechanical Engineering Department University of Delaware NewarkDE United States Biomedical Engineering Program University of Delaware NewarkDE United States

ISBN: (纸本)9780791841037

Many children have an upper extremity disability leaving them unable to explore the environment around them. Hard exoskeletons can provide support to lift a child’s arms up against gravity, but these devices are generally large and obtrusive leading to low adherence. Children often prefer to have limited arm function rather than wearing such a device. Our lab has previously designed a passive soft exoskeleton to lift children’s arms, but this did not allow for user control and was limited in the length and weight of arm it could support. Building off of this research, we have created the preliminary design for a user-controlled pneumatic soft exoskeleton that may allow users to independently raise and lower their arms. Copyright © 2019 ASME

关键词： Pneumatics

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Surface state induced velocity transition for layered carbon nanotube films under transverse penetration loading

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Composite Structures 2025年 369卷

作者： Pengfei Wang Wenshuai Wang Jie Tian Zhenhua Song Songlin Xu CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China Hefei 230027 China Engineering and Materials Science Experiment Center University of Science and Technology of China Hefei 230027 China Department of Aeronautics and Astronautics College of Intelligent Robotics and Advanced Manufacturing Fudan University Shanghai 200433 China

Carbon nanotube (CNT) films, consisting of entangled two-dimensional networks, exhibit prominent surface-dependent characteristics. Lubricants have been recognized as an effective strategy for reducing interfacial friction. However, experimental evidence indicates that lubricants unexpectedly increased the interfacial friction, demonstrating a counterintuitive velocity-dependent behavior. To elucidate the anomalous interfacial dynamics, experimental and computational methodologies were employed to systematically investigate the transverse penetrating behaviors of CNT films with different interface states and loading velocities. Experimental results indicate that the lubricant exhibits a decreasing trend at lower relative velocities, but transitions from decreasing to strengthening behavior as penetration velocity increases. The proposed equation reveals that the strengthening mechanism is not solely velocity-dependent but is jointly governed by the load magnitude and surface conditions. The high specific surface area of CNT films induces enhanced interface states and pronounced velocity-dependent characteristics, which collectively govern the fracture pattern observed in films subjected to distinct surface stress conditions. Deciphering the lubricant-induced velocity-transition mechanisms in CNT films yields new theoretical insights into interface-governed penetration behavior, while establishing material design principles for engineering impact-resistant membranes with tunable energy dissipation pathways.

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