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Improved interfacial bonding strength of laser TC4/UHMWPE joints via a hybrid surface pretreatment

Applied Surface Science 2025年 708卷

作者： Zhaoyang Chen Jin Yang Yinjiao He Ruijun Wang Yulong Li Ruijie Hao Yixuan Zhao Caiwang Tan Xiaoguo Song Jianguang Zhai School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai 201620 China School of Intelligent Manufacturing Shanghai Zhongqiao Vocational and Technical University Shanghai 201514 China Key Lab for Robot & Welding Automation of Jiangxi Province School of Advanced Manufacturing Nanchang University Nanchang 330031 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001 China

Titanium alloys and ultra-high molecular weight polyethylene (UHMWPE) are extensively utilized in biomedical implants due to their biocompatibility. As a kind of non-polar polymer, UHMWPE exhibits low surface activity and hydrophobicity, hindering a strong bonding to titanium alloys. This study introduced a novel hybrid modification method aimed at improving the reliability of artificial joint prostheses with a hybrid structure of Ti-6Al-4V titanium alloy (TC4) and UHMWPE. Firstly, the introduction of polar groups on the UHMWPE surface using an ultraviolet (UV) lamp/ozone. Secondly, the textured grids were processed on the TC4 surface using laser processing. The two materials were laser joined via heat transfer mode with a TC4-on-UHMWPE configuration. The bonding interface and fracture were characterized and analyzed by scanning electron microscopy (SEM), energy spectroscopy (EDS), X-ray photoelectron spectroscopy (XPS), and X-ray diffraction (XRD), which indicated the formation of mechanical interlocking and the generation of new chemical bonds at the interface. The bonding mechanism at the joint interface was also confirmed by density functional theory (DFT) calculations. The bidirectionally modified TC4-UHMWPE hybrid structure obtained a maximum tensile shear of 1233 N, realizing joint strength matching. This provides a new solution for the joining of non-polar polymers to metals. It is also essential for the development of more durable and reliable biomedical implants and prostheses.

关键词： Laser joining Laser surface texturing UHMWPE/TC4 dissimilar materials Ultraviolet/ozone

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Cover Feature: Understanding the Oxidation and Reduction Reactions of Sulfur in Rechargeable Aluminum-Sulfur Batteries with Deep Eutectic Solvent and Ionic Liquid Electrolytes (ChemSusChem 1/2022)

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ChemSusChem 2021年第1期15卷

作者： Dr. Yinghui Bian Weichuan Jiang Yonglei Zhang Lishun Zhao Xiaohang Wang Zichuan Lv Shuai Zhou Yuqing Han Hui Chen Prof. Meng-Chang Lin Key Laboratory for Robot and Intelligent Technology of Shandong Province College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao 266590 P.R. China

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Sensorless External Force Detection Method for Humanoid robot Arm based on BP Neural Network

Sensorless External Force Detection Method for Humanoid Robo...

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IEEE International Conference on Cyber Technology in automation, Control, and intelligent Systems

作者： Guoyu Zuo Yongkang Qiu Yuelei Liu Xiangsheng Huang Intelligent Robot Laboratory Beijing University of Technology Beijing China Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In order to improve the safety performance of the robot, this paper proposes an external force detection method for humanoid robot arm without using joint torque sensors, which can detect the external force of the joint space in real time during the operation of the robot. First, Analyses on the structure of the humanoid robot arm is performed, and the model of robot external force detection is established based on robot dynamics and motor dynamics. Then, the error of detection model is analyzed, and the robot dynamic model error is compensated by using the BP network, in order to obtain more accurate external force detection value of the robot. Experiments show that the method can effectively improve the detection accuracy, and the obtained external force detection data can be applied not only to the collision detection in the static state of the robot, but also to the online collision detection when the robot is running, which can ensure the safe operation of the robot.

关键词： Force Torque robot sensing systems Brushless DC motors Manipulators

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Two-DOF Speed Control of Permanent Magnet Synchronous Machine with a novel Parameter Identification Method

Two-DOF Speed Control of Permanent Magnet Synchronous Machin...

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第三十九届中国控制会议

作者： Mingjin Hu Wei Hua Xudong Wu Chengdong Wu Dazhi Wang Zhentao Liu Xiaofang Yuan Wennong Zhang School of Electrical Engineering Southeast University Faculty of Robot Science and Engineering Northeastern University College of Information Science and Engineering Northeastern University Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems College of Electrical and Information Engineering Hunan University

In this paper, a two-degree-of-freedom（2-DOF） speed control scheme for permanent magnet synchronous machines is developed. Both the reference-tracking and disturbance rejection performance are taken into account and only a single parameter related to expected bandwidth determines the dynamics. To improve the performance of speed control, a novel identification method for mechanical parameters is also proposed. The effectiveness of the proposed method is verified by simulations.

关键词： Speed Control two-degree-of-freedom permanent magnet synchronous machine parameter identification

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A Novel Remote Center of Motion Algorithm Based on 3D Force Dragging for Minimally Invasive Surgical robot

A Novel Remote Center of Motion Algorithm Based on 3D Force ...

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IEEE International Conference on Mechatronics and automation

作者： Jinqiang Zhao Yuanyuan Zhou Mingquan Guo Tao Yu Hua Zhang Hao Liu Mechatronic Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Key Laboratory of Minimally Invasive Surgical Robot Liaoning Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The kinematics analysis and simulation of remote center of motion (RCM) are very crucial issues for minimally invasive surgical robots. RCM increases the working space of surgical instruments and improves the flexibility of surgical operations. In this paper, a novel single-hole minimally invasive surgical robot suspension arm configuration is proposed by analyzing the constraints of RCM, which has 6 degrees of freedom, and a corresponding RCM algorithm is designed based on 3D force dragging. External force is applied to the 3D force sensor installed at the end of the robotic arm, and the algorithm is applied to achieve the RCM of the surgical instrument. The designed simulation experiments evaluate the accuracy and effectiveness of the algorithm. Compared with independently designing RCM mechanism, it is simpler and more general that the method of implementing RCM through kinematic constraints.

关键词： Three-dimensional displays Minimally invasive surgery Medical robotics Instruments Force Kinematics Manipulators

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Cover Image, Volume 40, Number 6, September 2023

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Journal of Field robotics 2023年第6期40卷

作者： Guoteng Zhang Shugen Ma Jinguo Liu Xianwu Zeng Lingyu Kong Yibin Li School of Control Science and Engineering Shandong University Jinan China Department of Robotics Ritsumeikan University Shiga Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Yibin Li School of Control Science and Engineering Shandong University Jinan China. Intelligent Robot Research Centre Zhejiang Lab Hangzhou China

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Design of coaxial intervention catheter robot for Endoscopic Retrograde Cholangio-Pancreatography

Design of coaxial intervention catheter robot for Endoscopic...

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Chinese automation Congress (CAC)

作者： Wenjie Wu Wei Jiang Shiwei Xu Tao Yu Xiao He Fengjie Tian Hao Liu Mechatronic Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Minimally Invasive Surgical Robot China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Due to the high incidence of biliary and pancreatic diseases, ERCP (Endoscopic Retrograde Cholangio-Pancreatography) is widely used as an effective method for treating biliary and pancreatic diseases. However, the location of biliary and pancreatic diseases is special, and the currently used ERCP surgical instruments are not flexible enough to make the intubation process difficult and cause damage to human tissues. This paper presents a new type of coaxial catheter intervention robot, which is composed of a flexible mechanical arm, a driving mechanism, and a guide wire conveying mechanism. The robot is coaxially transported to the nipple through the duodenoscope, which can provide the doctor with a clear surgical field of vision. The 2-degree-of-freedom flexible manipulator can bend in four directions, so that the direction of the catheter is as consistent as possible with the axis of the cholangiopancreatic duct, thus simplifying insertion Tube process. After the prototype was manufactured, the biliary and pancreatic duct model intervention experiment was carried out. The experiment verified the feasibility of the flexible robot system. The experimental results showed that compared with manual intubation, the efficiency is higher and the operation difficulty is lower.

关键词： Manipulators robots Wires Catheters Instruments Ducts Bending

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Semantic-guided compositional scene representation framework

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Neural networks : the official journal of the International Neural Network Society 2025年 190卷 107598页

作者： Qiang Liu Qiulei Dong Yangyong Zhang Xiao Lu Zhiguo Zhang Yuqin Chen Huanzhou Shu Haixia Wang Key Laboratory for Robot and Intelligent Technology of Shandong Province Shandong University of Science and Technology Qingdao 266590 China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao 266590 China. Electronic address: qliu1997@***. State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing 100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Beijing 100190 China. Electronic address: qldong@***. College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao 266590 China. College of Energy Storage Technology Shandong University of Science and Technology Qingdao 266590 China. Electronic address: luxiao98@***. College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao 266590 China. Electronic address: zhiguozhang@***. College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao 266590 China. Electronic address: hxwang@***.

Neural scene representation methods play a key role in computer vision and graphics, but it is difficult for them to generalize to new invisible scenes. Addressing this problem, we propose a semantic-guided compositional scene representation framework in this paper, consisting of a baseline module for scene representation, a semantic mapping module, and a compositional representation strategy. In the proposed framework, the semantic mapping module learns an embedding correlation by training on visible scenes, where the embedding correlation maps explicit semantic attributes to implicit scene representations. By utilizing the embedding correlation, the framework can represent invisible scenes using only semantic attributes. Besides, the compositional representation strategy is designed to fuse the decomposed 1-object scene representations into multi-object scene representation, yielding a higher training efficiency for multi-object scenes. Extensive experimental results on three datasets demonstrate that the proposed framework can achieve high-accuracy representations for visible and invisible multi-object scenes.

关键词： Compositional representation Neural scene representation Semantic attributes

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NTIRE 2021 depth guided image relighting challenge

arXiv

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arXiv 2021年

作者： Helou, Majed El Zhou, Ruofan Süsstrunk, Sabine Timofte, Radu Suin, Maitreya Rajagopalan, A.N. Wang, Yuanzhi Lu, Tao Zhang, Yanduo Wu, Yuntao Yang, Hao-Hsiang Chen, Wei-Ting Kuo, Sy-Yen Luo, Hao-Lun Zhang, Zhiguang Luo, Zhipeng He, Jianye Zhu, Zuo-Liang Li, Zhen Qiu, Jia-Xiong Kuang, Zeng-Sheng Lu, Cheng-Ze Cheng, Ming-Ming Shao, Xiu-Li Li, Chenghua Ding, Bosong Qian, Wanli Li, Fangya Li, Fu Deng, Ruifeng Lin, Tianwei Liu, Songhua Li, Xin He, Dongliang Yazdani, Amirsaeed Guo, Tiantong Monga, Vishal Nsampi, Ntumba Elie Hu, Zhongyun Wang, Qing Nathan, Sabari Kansal, Priya Zhao, Tongtong Zhao, Shanshan EPFL Switzerland ETH Zürich Switzerland ASUS Intelligent Cloud Services ASUSTeK Computer Inc Taiwan Graduate Institute of Electronics Engineering National Taiwan University Taiwan Department of Electrical Engineering National Taiwan University Taiwan Institute of Automation Chinese Academy of Sciences China Couger Inc Co. Ltd China United States Indian Institute of Technology Madras India Nankai University China Computer Vision and Computational Photography Group School of Computer science Northwestern Polytechnical University China Dalian Maritime University China China Everbright Bank China Baidu Inc China Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology China

Image relighting is attracting increasing interest due to its various applications. From a research perspective, image relighting can be exploited to conduct both image normalization for domain adaptation, and also for data augmentation. It also has multiple direct uses for photo montage and aesthetic enhancement. In this paper, we review the NTIRE 2021 depth guided image relighting challenge. We rely on the VIDIT dataset for each of our two challenge tracks, including depth information. The first track is on one-to-one relighting where the goal is to transform the illumination setup of an input image (color temperature and light source position) to the target illumination setup. In the second track, the any-to-any relighting challenge, the objective is to transform the illumination settings of the input image to match those of another guide image, similar to style transfer. In both tracks, participants were given depth information about the captured scenes. We had nearly 250 registered participants, leading to 18 confirmed team submissions in the final competition stage. The competitions, methods, and final results are presented in this paper. Copyright © 2021, The Authors. All rights reserved.

关键词： Light sources

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Two-DOF Speed Control of Permanent Magnet Synchronous Machine with a novel Parameter Identification Method

Two-DOF Speed Control of Permanent Magnet Synchronous Machin...

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Chinese Control Conference (CCC)

作者： Mingjin Hu Wei Hua Xudong Wu Chengdong Wu Dazhi Wang Zhentao Liu Xiaofang Yuan Wennong Zhang School of Electrical Engineering Southeast University Nanjing Faculty of Robot Science and Engineering Northeastern University Shenyang College of Information Science and Engineering Northeastern University Shenyang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 College of Electrical and Information Engineering Hunan University Changsha Inovance Technology Co Ltd Shenzhen

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

In this paper, a two-degree-of-freedom (2-DOF) speed control scheme for permanent magnet synchronous machines is developed. Both the reference-tracking and disturbance rejection performance are taken into account and only a single parameter related to expected bandwidth determines the dynamics. To improve the performance of speed control, a novel identification method for mechanical parameters is also proposed. The effectiveness of the proposed method is verified by simulations.

关键词： Bandwidth Velocity control Torque Simulation Transfer functions Rotors Parameter estimation

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