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From Concept to Field Trials: Design, Analysis, and Evaluation of a Novel Quadruped Robot with Deformable Wheel-Foot Structure

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IEEE Transactions on Robotics 2025年 41卷 3143-3161页

作者： Ju, Zhongjin Wei, Ke Xu, Yundou Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Qinhuangdao066004 China

This study introduces a novel quadruped robot, the TerraAdapt, furnished with an innovative deformable wheel-foot integrated structure. This unique design grants the robot the flexibility to alternate between wheeled and footed modes of locomotion, making it efficient in traversing diverse terrains, from smooth indoor floors to challenging outdoor landscapes laden with obstacles. The study delineates an in-depth design and analysis of the deformable wheel and its integrated wheel-foot structure using screw theory. We engineer a 2RRR-RP wheel-foot mode-switching mechanism by modifying a 2RRR spatial six-bar mechanism with an additional RP branch. This mechanism aids in seamless transitioning between different movement modes. Moreover, a 2RRR parallel structure is employed to construct the footed mode *** substantiate the viability and efficacy of the proposed design, we carry out extensive motion simulations and construct an experimental prototype for field testing. The field trials reveal the robot's adeptness in adapting to varied terrains, highlighting the possible advantages of incorporating the proposed deformable wheel into micro mobile robot designs. © 2004-2012 IEEE.

关键词： Machine design

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Excellent high-temperature strength of(HfZrTiTaNb)C high-entropy carbide diffusion-bonded joint via in-situ alloying of Ni/Nb/Ni composite interlayer

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Journal of advanced Ceramics 2025年第1期14卷 127-133,136-139页

作者： Ruijie Mu Ying Wang Shiyu Niu Kongbo Sun Zhenwen Yang Tianjin Key Laboratory of Advanced Joining Technology School of Materials Science and EngineeringTianjin UniversityTianjin 300350China Key Laboratory of Advanced Ceramics and Machining Technology Ministry of EducationTianjin 300350China

To obtain high-entropy carbide(HEC)joints with excellent high-temperature performance,a(HfZrTiTaNb)C HEC joint featuring a direct diffusion-bonded interface with a Nb-based interlayer was successfully fabricated at relatively low temperatures of 1150–1250℃for 60 min under 10 *** from a modified Ni/Nb/Ni composite interlayer with a Nb content of>64 at%,an alloyed Nb_(2)Ni layer was constructed in situ by accelerating the directional diffusion of Ni atoms from the high-entropy interface into the remaining pure Nb through the Ni‒Nb eutectic ***,the excess liquid phase was squeezed out of the bonding region,ensuring the absence of Ni-based *** the intrinsic interfacial stability and sluggish diffusion effect,the HEC with its original lattice structure,was capable of developing diffusion bonding with the Nb_(2)Ni layer instead of interacting with the liquid *** high reliability of the HEC/Nb_(2)Ni bonded interface was confirmed by the coherence of(11¯3)_(HEC)//(141)_(Nb_(2))Ni and a calculated lattice misfit of *** HEC joint had a high room-temperature strength of 174 MPa because of the homogenous Nb_(2)Ni layer,which exhibited nanohardness(15.2±1.5 GPa)and an elastic modulus of 219.9±17.5 ***,the strength of the HEC joint did not decrease at 1000℃,increasing by~49%over that of HEC/Ni/HEC diffusion-bonded joints,which have stringent surface flatness *** suggested that the HEC/Nb_(2)Ni interface had excellent resistance to high-temperature softening,even though it was invariably the initial failure *** work is informative for designing bonding structures and preparing HEC components.

关键词： high-entropyceramic diffusion bonding in situ alloyed interlayer mechanical properties

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Synergistic Enhancement of Mechanical Properties and Electrical Conductivity of Immiscible Bimetal:A Case Study on W–Cu

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Engineering 2025年第3期46卷 224-235页

作者： Qixiang Duan Chao Hou Tielong Han Yurong Li Haibin Wang Xiaoyan Song Zuoren Nie Key Laboratory of Advanced Functional Materials Ministry of EducationCollege of Materials Science and EngineeringBeijing University of TechnologyBeijing 100124China

Immiscible bimetal systems,of which tungsten–copper(W–Cu)is a typical representative,have crucial applications in fields requiring both mechanical and physical ***,it is a major challenge to determine how to give full play to the advantages of the two phases of the bimetal and achieve outstanding comprehensive *** this study,an ultrafine-grained W–Cu bimetal with spatially connected Cu and specific Wislands was fabricated through a designed powder-mixing process and subsequent rapid low-temperature *** prepared bimetal concurrently has a high yield strength,large plastic strain,and high electrical *** stress distribution and strain response of individual phases in different types of W–Cu bimetals under loading were quantified by means of a *** high yield strength of the reported bimetal results from the microstructure refinement and high contiguity of the grains in the W islands,which enhance the contribution of W to the total plastic deformation of the *** high electrical conductivity is attributed to the increased mean free path of the Cu and the reduced proportion of phase boundaries due to the specific phase combination of W islands and *** work provides new insight into modulating phase configuration in immiscible metallic composites to achieve high-level multi-objective properties.

关键词： Immiscible bimetal Phase configuration Mechanical property Electrical conductivity Strain response

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Temperature-sensitive Micelles as Artificial Chaperones for Insulin Protection

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Chinese Journal of Polymer science 2025年第2期43卷 350-359页

作者： Jia-Wen Chen Yan Xiao Mei-Dong Lang Shanghai Key Laboratory of Advanced Polymeric Materials Key Laboratory for Ultrafine Materials of Ministry of EducationSchool of Materials Science and EngineeringEast China University of Science and TechnologyShanghai200237China

Insulin is an essential and versatile protein taking part in the control of blood glucose levels and protein ***,under prolonged storage or high temperature stress,insulin tends to unfold and aggregate into toxic amyloid fibrils,leading to loss of physiological *** by natural chaperones,a series of temperature-sensitive polycaprolactone-based micelles were designed to prevent insulin from *** micelles were fabricated through the self-assembly of amphiphilic copolymers of methoxy poly(ethylene glycol)-poly(4-diethylformamide caprolactone-co-caprolactone)(mPEG_(17)-P(DECL-co-CL)),which had a regular spherical morphology with particle sizes of about 100 *** addition,the lower critical solution temperature(LCST)of the micelles could be tuned to 9 and 29℃by changing the ratio of DECL to *** from the temperature-sensitivity of DECL segment,the binding ability of micelles to insulin could be modulated by changing the *** LCST,micelles effectively inhibited insulin aggregation and protected it from thermal inactivation due to the strong binding ability between the hydrophobic segment DECL and *** LCST,DECL segment returned to hydrophilic and bound weakly with insulin,leading to the release of insulin and assisting in its recovery of secondary ***,these temperature-sensitive micelles provided an effective strategy for insulin protection.

关键词： Temperature-sensitive Insulin Micelles Chaperones

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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Defect Engineering with Rational Dopants Modulation for High‑Temperature Energy Harvesting in Lead‑Free Piezoceramics

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Nano-Micro Letters 2025年第3期17卷 87-101页

作者： Kaibiao Xi Jianzhe Guo Mupeng Zheng Mankang Zhu Yudong Hou Key Laboratory of Advanced Functional Materials Ministry of EducationCollege of Materials Science and EngineeringBeijing University of TechnologyBeijing 100124People’s Republic of China

High temperature piezoelectric energy harvester(HTPEH)is an important solution to replace chemical battery to achieve independent power supply of HT wireless ***,simultaneously excellent performances,including high figure of merit(FOM),insulation resistivity(ρ)and depolarization temperature(Td)are indispensable but hard to achieve in lead-free piezoceramics,especially operating at 250°C has not been reported ***,well-balanced performances are achieved in BiFeO3–BaTiO3 ceramics via innovative defect engineering with respect to delicate manganese *** to the synergistic effect of enhancing electrostrictive coefficient by polarization configuration optimization,regulating iron ion oxidation state by high valence manganese ion and stabilizing domain orientation by defect dipole,comprehensive excellent electrical performances(Td=340°C,ρ250°C>10^(7)Ωcm and FOM_(250°C)=4905×10^(–15)m^(2)N^(−1))are realized at the solid solubility limit of manganese *** HT-PEHs assembled using the rationally designed piezoceramic can allow for fast charging of commercial electrolytic capacitor at 250°C with high energy conversion efficiency(η=11.43%).These characteristics demonstrate that defect engineering tailored BF-BT can satisfy high-end HT-PEHs requirements,paving a new way in developing selfpowered wireless sensors working in HT environments.

关键词： Lead-free piezoceramic Defect engineering Dopants modulation High-temperature Piezoelectric energy harvester

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Research on the bulging process of aluminum alloy four-way tube with solid granules medium

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Materials and Manufacturing Processes 2025年

作者： Shi, Haiwei Zhao, Changcai Du, Bing Zhu, Qingxing Ministry of Education of China Key Laboratory of Advanced Forging & Stamping Technology and Science YanShan University Qinhuangdao China

This study presents a novel bulging process for aluminum alloy four-way tubes with solid granules medium. The proposed method aims to enhance forming precision and minimize defects in the internal high-pressure forming process. The behavior of bulging process of aluminum alloy four-way tubes with solid granules medium (SGM) is systematically investigated through comprehensive experimental methodologies. This study explored the critical effects of temperature, back pressure, and associated process parameters on the fundamental forming mechanism. The solid granules medium bulging process successfully produced a four-way tube with an expansion height of 102.14 mm. A three-dimensional finite element method-discrete element method coupling model (FEM-DEM coupling model) is developed based on the uniform load distribution method. The experimental results verified the accuracy of this model, with a maximum deviation of 12.7% between the simulated wall thickness and the experimental data, demonstrating good consistency in the overall deformation pattern. © 2025 Taylor & Francis Group, LLC.

关键词： Aluminum alloys

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Insight into the Solution Self-Assembly of Amphiphilic Asymmetric Brush Copolymers via Computer Simulations

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Chinese Journal of Polymer science 2025年第1期43卷 132-140,I0010页

作者： Wei-Ting Zeng Wei-Sheng Feng Xing Zhang Yuan Yao Bin-Bin Xu Shao-Liang Lin Shanghai Key Laboratory of Advanced Polymeric Materials Key Laboratory for Ultrafine Materials of Ministry of EducationFrontiers Science Center for Materiobiology and Dynamic ChemistrySchool of Materials Science and EngineeringEast China University of Science and TechnologyShanghai200237China

Amphiphilic asymmetric brush copolymers(AABCs)possess unique self-assembly behaviors owing to their asymmetric brush architecture and multiple functionalities of multicomponent side ***,the synthesis of AABCs presents challenges,which greatly limits the exploration of their self-assembly *** this work,we employed dissipative particle dynamics(DPD)simulations to investigate the self-assembly behaviors of AABCs in selective *** varying the copolymer concentration and structure,we conducted the self-assembly phase diagrams of AABCs,revealing complex morphologies such as channelized micelles with one or more solvophilic ***,the number,surface area,and one-dimensional density distribution of the channelized micelles were calculated to demonstrate the internal structure and morphological transformation during the self-assembly *** findings indicate that the morphology of the internal solvophilic channels is greatly influenced by the copolymer structure,concentration,and interaction parameters between the different side *** simulation results are consistent with available experimental observations,which can offer theoretical insights into the self-assembly of AABCs.

关键词： Dissipative particle dynamics Brush copolymer Self-assembly Channelized micelle

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A hierarchical NiFeOOH@CeO_(2−x)nanosheets array boosts electrocatalytic activity and durability at high current densities for water oxidation

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Nano Research 2025年第3期18卷 204-214页

作者： Wei Zhang Liyang Xiao Xiaorui Huang Chunyan Han Ying Liu Jingtong Zhang Haiwen Tan Rui Zhang Pengfei Yin Cunku Dong Hui Liu Xiwen Du Jing Yang Institute of New Energy Materials Key Laboratory of Advanced Ceramics and Machining Technology of Ministry of EducationSchool of Materials Science and EngineeringTianjin UniversityTianjin 300072China

The oxygen evolution reaction(OER)reaction kinetics of nickel-iron(oxy)hydroxides(NiFeOOH)is limited by their weak adsorption of OER ***,a hierarchical NiFeOOH@CeO_(2−x)nanosheets array was in situ grown on a nickel foam by a facile laser direct writing method,which exhibits superior OER activity and durability at high current densities in alkaline *** hierarchical nanosheets array exposes abundant catalytic active sites,which greatly promote OER reaction *** strong electronic interaction at the NiFeOOH/CeO_(2−x)interface leads to favorable electron transfer from Ni^(2+)/^(3+)and Fe^(3+)to Ce^(3+)/^(4+).The Ni sites with high valences show enhanced OH−adsorption and also promote the formation of*OOH intermediate,thereby greatly improving OER intrinsic *** oxygen deficient CeO_(2−x)primary sheets guarantee good electrical *** a well-designed catalytic electrode requires overpotentials of only 229 and 287 mV to achieve current densities of 50 and 500 mA·cm^(−2),respectively,and sustains superior stability at 500 mA·cm^(−2)and 1 A·cm^(−2).

关键词： hierarchical nanosheets transition metal(oxy)hydroxides oxygen evolution reaction laser direct writing water splitting

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Microstructure and mechanical properties of high-pressure sintered B6O-SiC nanocomposites

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材料科学技术（英文版） 2025年第1期204卷 238-244页

作者： Bin Zhang Rongxin Sun Pan Ying Song Zhao Yitong Zou Lei Sun Zihe Li Yufei Gao Mengdong Ma Lingyu Liu Chao Liu Bo Xu Center for High Pressure Science(CHiPS) State Key Laboratory of Metastable Materials Science and TechnologyYanshan UniversityQinhuangdao 066004China National Key Laboratory of Advanced Casting Technologies MIIT Key Laboratory of Advanced Metallic and Intermetallic Materials TechnologyEngineering Research Center of Materials Behavior and DesignMinistry of Education Nanjing University of Science and TechnologyNanjing 210094China Key Laboratory of Materials and Surface Technology(Ministry of Education) School of Materials Science and EngineeringXihua UniversityChengdu 610039China School of Materials Science and Engineering Faculty of Materials Metallurgy and ChemistryJiangxi University of Science and TechnologyGanzhou 341000China

Boron suboxide(B6O)is recognized as a superhard material with a low mass density,high resistance to chemical wear,and excellent wear *** its desirable properties,the limited fracture tough-ness of B6O restricts its application in industrial *** study presents the structural and me-chanical characterization of B6O-SiC nanocomposites,which were synthesized via a high-pressure high-temperature sintering process of B6O powders and SiC *** sintering process induced fragmen-tation of SiC whiskers,resulting in the homogenous distribution of SiC fragments within the B6O *** increase in SiC content was observed to decrease the composite's hardness,while initially reducing then enhancing its *** nanocomposites containing 20 wt％and 30 wt％SiC whiskers exhibited significant improvements in fracture toughness,averaging 6.5 MPa m1/2 and 7.0 MPa m1/2,respectively-approximately threefold the toughness of polycrystalline B6O-while sustaining high hardness values of 36.3 GPa and 35.6 GPa on *** analyses revealed that the composites'superior me-chanical performance is due to the presence of strong grain boundaries,as well as a high density of nan-otwins and stacking *** findings demonstrate a viable method for producing B6O-based nanocom-posites with enhanced hardness and toughness,potentially expanding their industrial applicability.

关键词： B6O Ceramic nanocomposite Mechanical properties Microstructure

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