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

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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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of advanced Manufacturing technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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A High-Power Wave Energy Harvester with Mag-Boost Mechanism 5th

A High-Power Wave Energy Harvester with Mag-Boost Mechanism

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5th International Conference on Vibration and Energy Harvesting Applications, VEH 2024

作者： Tang, Tianyi Li, Yunfei Sun, Lining Liu, Huicong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou China

ISBN: (纸本)9789819611904

Ocean wave energy is a widely anticipated new type of renewable energy. However, due to the ultra-low-frequency and random motion characteristics of ocean waves, effectively harnessing it presents a significant challenge. This paper proposes a Mag-Boost mechanism based on the phenomenon that the magnetic torque undergoes a sudden change when the magnetic poles of two magnets are orthogonal. This innovative mechanism, requiring just a trigger below 1 Hz, can stimulate a power-magnet to generate high-frequency oscillation without direct contact. Utilizing this mechanism, a high-power wave energy harvester (WEH) with ultra-low-frequency response capabilities has been developed. Tested on a six-degree-of-freedom platform, the WEH demonstrated a high-output power of 1.44W and a power density of 1.2 kW/m3 at a frequency of 1 Hz and an inclination angle of 30°. The peak open-circuit voltage of the WEH reached 5 V, ensuring a completely independent and stable power supply for wireless temperature and humidity sensors. Furthermore, the Mag-Boost mechanism also shows considerable potential for harvesting other forms of low-frequency environmental energy, including wind, vibration, and human kinetic energy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Water waves

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Self-powered Smart Water Meter for Pipeline Flow Monitoring 5th

Self-powered Smart Water Meter for Pipeline Flow Monitoring

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5th International Conference on Vibration and Energy Harvesting Applications, VEH 2024

作者： Mei, Mingqi Wang, Zizhao Li, Yunfei Tang, Tianyi Liu, Huicong School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819611904

This paper presents the development of a water flow energy harvester (WFEH) designed to power smart water meters within residential piping systems. Utilizing the kinetic energy of flowing water, the device harnesses this energy and converts it into electricity via electromagnetic principles. The impeller's shape, quantity, and guide vane height at the inlet were simulated using computational fluid dynamics (CFD) software, comparing impeller rotational speeds under various simulation parameters to select the appropriate impeller configuration. Experimental data indicate that with an inlet water pressure of 0.12 MPa and an outlet pressure of 0.06 MPa, a single coil in the device generates a peak voltage of 3.6 V, with a peak power of 54.2 mW and a head loss of 6 m. The maximum head loss permitted in residential water pipes is 10 m. The energy generation module of the WFEH has been designed with a six-coil array, significantly enhancing its performance output. Theoretically, the output power of the WFEH is sufficient to meet the energy needs of smart water meters. Therefore, the WFEH holds potential for integration into urban water management systems, providing a stable energy supply for data collection and transmission, and contributing to the development of self-powered smart meters. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Water meters

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Characteristics of radio-frequency magnetron sputtering with Ag target operated near the electron series resonance oscillation

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Plasma Science and technology 2025年第3期27卷 111-117页

作者： Chao YE School of Physics Science and Technology Jiangsu Key Laboratory of Frontier Material Physics and DevicesSoochow UniversitySuzhou 215006People’s Republic of China Jiangsu Key Laboratory of Advanced Negative Carbon Technologies Soochow UniversitySuzhou 215123People’s Republic of China

The discharge and plasma characteristics of Ag magnetron sputtering discharge operated near the electron series resonance(ESR)oscillation,which was excited using the driving frequency of 27.12 MHz,was *** imaginary part of impedance was found to undergo a transition from capacitive to inductive on varying radio-frequency(RF)power,and the conditions for the ESR excitation were *** current–voltage(I–V)characteristic of discharge showed that the lower discharge voltage with higher current was an important feature of RF magnetron sputtering operated near the ESR oscillation,which was caused by the small impedance Z originated from the mutual compensation between the sheath capacitive reactance and the plasma inductive *** higher electron temperature,ion flux density and ion energy as well as the moderate electron density were *** interaction of higher energy ions on substrate surface improved the crystallographic quality of Ag ***,the 27.12 MHz magnetron sputtering operated near the ESR oscillation has better deposition characteristics than that of commercial 13.56 MHz RF magnetron sputtering.

关键词： electron series resonance magnetron sputtering radio-frequency discharge

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Co@C-N as an electronic mediator anchored with Cu2O nanoparticles enables efficient photoreduction of CO2 to CO with nearly 100% selectivity

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Science China Chemistry 2025年第5期68卷 2160-2169页

作者： Xingbin Pan Xiuzheng Deng Jingshan Fan Jiangchuan Liu Changhai Liu Zhongyu Li Qian Liang Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology CNPC-CZU Innovation AllianceSchool of Petrochemical EngineeringChangzhou University School of Materials Science & Engineering Changzhou University

Solar-driven CO2conversion into value-added chemical provides an attractive strategy for sustainable ***,the enhanced CO2photoreduction performance with target product selectivity remains a major ***,we develop a novel strategy involving Cu2O nanoparticles in situ grown on the surface of ZIF-67-derived Co@C-N nanocages（CC） to create abundant active sites and appropriate heterointerfaces.A remarkable CO selectivity of 95.7% with a yield of 117.39 μmol g-1h-1and an apparent quantum efficiency as high as 1.88% at 420 nm was obtained over CC-60 catalyst in pure water,which was 87.6 times higher than that of pure *** calculations and experiments indicated that Co@C-N nanocages as charge mediator not only rapidly trap photogenerated electrons to promote charge separation efficiency,but also regulate the d-band center of Cu atoms to move to the Fermi energy level,thereby optimizing the reaction kinetics to facilitate the highly selective conversion of the key intermediate*CO desorption to CO.

关键词： Co nanocage electronic mediator interface regulation photocatalytic CO2 reduction high selectivity

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Boron cluster-based TADF emitter via through-space charge transfer enabling efficient orange-red electroluminesce

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Chinese Chemical Letters 2025年第3期36卷 232-238页

作者： Xiao Yu Dongyue Cui Mengmeng Wang Zhaojin Wang Mengzhu Wang Deshuang Tu Vladimir Bregadze Changsheng Lu Qiang Zhao Runfeng Chen Hong Yan State Key Laboratory of Coordination Chemistry Jiangsu Key Laboratory of Advanced Organic MaterialsSchool of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023China Key Laboratory for Organic Electronics and Information Displays&Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Jiangsu National Synergistic Innovation Center for Advanced Materials(SICAM)Nanjing University of Posts&TelecommunicationsNanjing 210023China Key Laboratory for Advanced Technology in Environmental Protection of Jiangsu Province Yancheng Institute of TechnologyYancheng 224051China College of Electronic and Optical Engineering&College of Flexible Electronics(Future Technology) Nanjing University of Posts&TelecommunicationsNanjing 210023China A.N.Nesmeyanov Institute of Organoelement Compounds(INEOS) Russian Academy of SciencesMoscow 119991Russia

Thermally activated delayed fluorescence(TADF)materials driven by a through-space charge transfer(TSCT)mechanism have garnered wide ***,access of TSCT-TADF molecules with longwavelength emission remains a formidable *** this study,we introduce a novel V-type DA-D-A’emitter,Trz-mCzCbCz,by using a carborane *** design strategically incorporates carbazole(Cz)and 2,4,6-triphenyl-1,3,5-triazine(Trz)as donor and acceptor moieties,*** calculations alongside experimental validations affirm the typical TSCT-TADF characteristics of this *** to the unique structural and electronic attributes of carboranes,Trz-mCzCbCz exhibits an orange-red emission,markedly diverging from the traditional blue-to-green emissions observed in classical Cz and Trz-based TADF ***,bright emission in aggregates was observed for Trz-mCzCbCz with absolute photoluminescence quantum yield(PLQY)of up to 88.8%.As such,we have successfully fabricated five organic light-emitting diodes(OLEDs)by utilizing Trz-mCzCbCz as the emitting *** is important to note that both the reverse intersystem crossing process and the TADF properties are profoundly influenced by host *** fabricated OLED devices reached a maximum external quantum efficiency(EQE)of 12.7%,with an emission peak at 592 *** represents the highest recorded efficiency for TSCT-TADF OLEDs employing carborane derivatives as emitting layers.

关键词： Thermally activated delayed fluorescence Through-space charge transfer Carborane Boron clusters Organic light-emitting diodes

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Atomic-level dispersed nickel sites embedded in carbon support for efficient electrochemical CO2 reduction

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International Journal of Hydrogen Energy 2025年 136卷 600-608页

作者： Lu, Jiacheng Gu, Shengshen Xu, Rong Guo, Meng Fang, Juan Zhong, Jing Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology School of Petrochemical Engineering Changzhou University Changzhou213164 China Jiangsu Key Laboratory of Advanced Manufacturing for High-end Chemicals Changzhou University Changzhou213164 China School of Energy and Environmental Engineering University of Science and Technology Beijing Beijing100083 China

Single-atom catalysts have shown exceptional activity and selectivity for CO2 electrochemical reduction reaction (CO2ERR) owing to the clearly defined and accessible active metallic sites. However, the role of Ni dispersion state (atomic vs. aggregated) on catalytic performance has remained elusive. Herein, we report the exploration of dispersion state effects on activities by synthesizing catalysts embedded with Ni single atoms or aggregated particles. The catalyst with highly-dispersed Ni single atoms shows the highest Faradaic efficiency (FECO) for CO (96 % at -0.75 V vs. RHE) and the FECO could be retained for 12 h without a significant decay. While the catalyst with crystalline Ni particles shows a decreased FECO of 80 % and the catalyst with no Ni shows a least FECO of 38 % towards CO. The above experiments indicate that Ni metallic sites are the active centers for CO2ERR and atomic dispersion of Ni metallic sites plays a vital role in CO2ERR performance. Density functional theory (DFT) calculations reveal that the energy barrier of CO2ERR is reduced when Ni is in atomic dispersion rather than aggregation. The findings here have significant implications on a broad field of energy catalysis. © 2025 Hydrogen Energy Publications LLC

关键词： Electrolytic reduction

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Multi-criteria decision analysis of entrainers screening on the extractive distillation process for separating ternary mixtures based on multi-objective optimization

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Chemical Engineering Research and Design 2025年 218卷 376-387页

作者： Xu, Zhixia Wang, Yao Li, Jinlong Wu, Hanbin Pan, Jing Ye, Qing Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology School of Petrochemical Engineering Changzhou University Jiangsu Changzhou213164 China

This study aims to use multi-criteria decision analysis to investigate the impacts of relative volatility and the thermodynamic properties of entrainers on the extractive distillation process, using the separation of tetrahydrofuran/acetonitrile/water mixture as a case study. Based on the changes of relative volatility, four entrainers are chosen as candidate entrainers from eight widely used entrainers. A multi-objective algorithm is applied to optimize the extractive distillation processes of four entrainers. The optimization results indicate the economic, environmental, and entropy production advantages of the extractive distillation processes using four entrainers are ranked as follows: dimethyl sulfoxide> 1,2-propanediol>ethylene glycol> 1,3-propanediol. The multi-criteria decision analysis method based on entropy weight is adopted to evaluate the impacts of different influencing factors on the extractive distillation process. It indicates that alongside relative volatility, the impacts of the specific heat and boiling point of the entrainers on the extractive distillation process are significant and cannot be neglected. © 2025 Institution of Chemical Engineers

关键词： Electron temperature

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Modulated synthesis of stoichiometric and sub-stoichiometric two-dimensional covalent organic frameworks for enhanced ethylene purification

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Chinese Chemical Letters 2025年第1期36卷 272-276页

作者： Jiahao Li Guinan Chen Chunhong Chen Yuanyuan Lou Zhihao Xing Tao Zhang Chengtao Gong Yongwu Peng College of Materials Science and Engineering Zhejiang University of TechnologyHangzhou 310014China State Key Laboratory of Organic Electronics and Information Displays&Jiangsu Key Laboratory for Biosensors Institute of Advanced Materials(IAM)Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)Nanjing University of Posts and TelecommunicationsNanjing 210023China

Controlled synthesis of two-dimensional covalent organic frameworks(2D COFs),including stoichiometric and sub-stoichiometric variations,is a topic of growing interest due to its potential in gas separation *** this study,we successfully synthesized three distinct 2D COFs by carefully adjusting solvent compositions and monomer ratios during the synthesis of[4+4]type *** included a stoichiometric[4+4]type COF and two sub-stoichiometric[4+2]type COFs,featuring unreacted amino or formyl *** resulting COFs exhibit different gas adsorption and separation ***,sub-stoichiometric COF-DA with residual amino groups shows comparable adsorption capacity for C_(2)H_(2),C_(2)H_(4),and CO_(2)to stoichiometric *** contrast,sub-stoichiometric COF-Py with residual formyl groups displays enhanced adsorption selectivity for C_(2)H_(2)/C_(2)H_(4)and C_(2)H_(2)/CO_(2)separation,with the C_(2)H_(2)/C_(2)H_(4)selectivity being the highest among reported COFs,attributed to increased pore polarity resulting from the presence of formyl *** study not only offers an additional example of substoichiometric COF synthesis but also advocates for further exploration of sub-stoichiometric COF materials,particularly in the field of gas adsorption and separation.

关键词： Two-dimensional covalent organic frameworks Stoichiometric and sub-stoichiometric Residual functional groups Ethylene purification

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