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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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Flight control of a large-scale flapping-wing flying robotic bird:system development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

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Journal of Bionic Engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Effects of fluorene-9-bisphenol exposure on anxiety-like and social behavior in mice and protective potential of exogenous melatonin

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Environmental Science and Pollution Research 2024年第20期31卷 29385-29399页

作者： Zuo, Xiang Zhang, Shuhui Bai, Huijuan Yu, Qian Zhao, Qili Sun, Mingzhu Zhao, Xin Feng, Xizeng College of Life Sciences State Key Laboratory of Medicinal Chemical Biology Key Laboratory of Bioactive Materials Ministry of Education Nankai University Weijin Road 94 Tianjin300071 China Institute of Robotics & amp Automatic Information System College of Artificial Intelligence Nankai University Tianjin300071 China

Fluorene-9-bisphenol (BHPF) is widely used in the manufacture of plastic products and potentially disrupts several physiological processes, but its biological effects on social behavior remain unknown. In this study, we investigated the effects of BHPF exposure on anxiety-like and social behavior in female mice and the potential mechanisms, thereby proposing a potential therapy strategy. We exposed female Balb/c mice to BHPF by oral gavage at different doses (0.5, 50 mg/kg bw/2-day) for 28 days, which were found BHPF (50 mg/kg) exposure affected motor activity in the open field test (OFT) and elevated cross maze (EPM), resulting in anxiety-like behaviors, as well as abnormal social behavioral deficits in the Social Interaction Test (SIT). Analysis of histopathological staining results showed that BHPF exposure caused damage to hippocampal neurons in the CA1/CA3/DG region and decreased Nissl pyramidal neurons in the CA1/CA3 regions of the hippocampus, as well as a decrease in parvalbumin neuron expression. In addition, BHPF exposure upregulated the expression of excitatory and inhibitory (E/I) vesicle transporter genes (Vglut1, Vglut2, VGAT, GAD67, Gabra) and axon growth gene (Dcc) in the mouse hippocampus. Interestingly, behavioral disturbances and E/I balance could be alleviated by exogenous melatonin (15 mg/kg bw/2-day) therapy. Our findings suggest that exogenous melatonin may be a potential therapy with protective potential for ameliorating or preventing BHPF-induced hippocampal neuronal damage and behavioral disturbances. This study provided new insight into the neurotoxicological effects on organisms exposed to endocrine-disrupting chemicals and aroused our vigilance in current environmental safety about chemical use. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Neurons

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A 250MS/s, 12 Bit Pipeline-SAR ADC Using Coarse-Fine Ring Amplifier 17

A 250MS/s, 12 Bit Pipeline-SAR ADC Using Coarse-Fine Ring Am...

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17th IEEE International Conference on Solid-state and Integrated Circuit Technology, ICSICT 2024

作者： Liu, Linghao Ren, Junyan Ye, Fan Fudan University State Key Laboratory of ASIC and System Department of Microelectronics Shanghai China

ISBN: (纸本)9798350361834

The ring amplifier is an energy effective choice for high performance pipeline ADC. However, sensitivity to process, supply voltage and temperature (PVT) variations and complex stability mechanism make it less practical. This brief introduces a coarse-fine ring amplifier (CFRingAmp) that allows individual designs of large-signal and small-signal processes. With a large and a smaller dead-zones switched by the self-detect-and-switch block, both stability and accuracy are well designed over corners. Furthermore, a 250MS/s, 12-bit pipeline-SAR ADC is implemented adopting the proposed CFRingAmp. Simulated in 28nm CMOS, the ADC achieves an SNDR of 64.1 dB and an SFDR of 74.9 dB over corners at Nyquist frequency while consuming 4.5mW, resulting a Walden figure-of merit (FoM) of 12.7 fJ/conversion step. © 2024 IEEE.

关键词： CMOS integrated circuits

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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A Review on the Mullins Effect in Tough Elastomers and Gels

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Acta Mechanica Solida Sinica 2024年第2期37卷 181-214页

作者： Lin Zhan Shaoxing Qu Rui Xiao MOE Key Lab of Disaster Forecast and Control in Engineering College of Mechanics and Construction EngineeringJinan UniversityGuangzhou510632China State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China

Tough elastomers and gels have garnered broad research interest due to their wide-ranging potential ***,during the loading and unloading cycles,a clear stress softening behavior can be observed in many material systems,which is also named as the Mullins *** this work,we aim to provide a complete review of the Mullins effect in soft yet tough materials,specifically focusing on nanocomposite gels,double-network hydrogels,and multi-network *** first revisit the experimental observations for these soft *** then discuss the recent developments of constitutive models,emphasizing novel developments in the damage mechanisms or network *** phenomenological models will also be briefly *** attention is then placed on the anisotropic and multiaxial modeling *** is demonstrated that most of the existing models fail to accurately predict the multiaxial data,posing a significant challenge for developing future anisotropic models tailored for tough gels and elastomers.

关键词： Mullins effect Double-network hydrogels Nanocomposite gels Multi-network elastomers Anisotropic damage model Multiaxial model

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PMM-Net: Single-Stage Multi-Agent Trajectory Prediction with Patching-Based Embedding and Explicit Modal Modulation

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IEEE robotics and Automation Letters 2025年第7期10卷 6664-6671页

作者： Huajian, Liu Wei, Dong Kunpeng, Fan Chao, Wang Yongzhuo, Gao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents makes this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we propose a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. © 2025 IEEE.

关键词： Signal modulation

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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Recyclable Polypropylene-based Insulation Materials for HVDC Cables:Progress and Perspective

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CSEE Journal of Power and Energy systems 2024年第5期10卷 2208-2220页

作者： Yao Zhou Shixun Hu Chao Yuan Jun Hu Qi Li Jinliang He State Key Laboratory of Power Systems Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Lab of High Voltage&EMC and State Key Lab of Alternate Electrical Power System with Renewable Energy SourcesNorth China Electric Power UniversityBeijing 102206China.

Polypropylene(PP)-based recyclable materials have attracted tremendous interest for HVDC cable insulation applications due to their superior electrical properties,e.g.,high thermal stability and superior *** with crosslinked polyethylene(XLPE),PP-based materials exhibit the advantages of not only higher working temperatures but also facile and efficient cable manufacturing with reduced costs,which are highly desirable in HVDC cable *** their promising advantages,PP-based materials have received significant attention from both academia and industry in the field of HVDC cable *** order to adopt PP as a cable insulation material,the mechanical flexibility of PP should be ***,regulations of the mechanical properties inevitably influences the electrical properties of *** extensive research has been conducted on the regulation of the mechanical and electrical properties of *** review summarizes the research progress on recyclable PP-based materials for HVDC cable insulation *** attention is placed on the electrical property regulations and material structure-property *** challenges that remain to be addressed and the opportunities for future studies on PP-based recyclable HVDC cable insulation materials are also presented.

关键词： polypropylene HVDC cable dielectric materials recyclable insulation materials

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