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Effect of dielectric barrier discharge on ceramic surface properties

Journal of Physics: Conference Series 2020年第1期1520卷

作者： Furong Yao Mingqiang Pan Zongjian Zhu Jizhu Liu Yangjun Wang Haibo Huang Liguo Chen College of Mechatronics Engineering &Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou Jiangsu China Jiangsu Key Laboratory for Advanced Robotics Technology Soochow University Jiangsu China Robotics and Microsystems Center Soochow University Suzhou Jiangsu China

Ceramics, as a commonly used insulating and thermally conductive material, has a wide range of applications in the field of micro-nano manufacturing. In recent years, research on ceramic bonding has also increased. However, ceramic bonding has some problems such as bonding failure and low bonding quality. Learning from other commonly used bonding materials, the important factor for the success of bonding is the surface properties of the material. Therefore, in this study, the surface of ceramic was treated by dielectric barrier discharge (DBD) to improve surface properties. The effects of dielectric barrier discharge on the surface properties of ceramic is investigated from the three aspects: hydrophilic angle, surface energy and surface morphology. In the dielectric barrier discharge experiment, blind via glass is used as the blocking medium for the upper electrode. The lower electrode is covered by ceramic, and the ceramic is also the material to be treated. The influence of processing time, discharge voltage and discharge frequency on the treatment effect is investigated in the experiment. The hydrophilic angle and surface energy of the treated ceramics are measured and calculated by contact angle measuring instrument, and the surface morphology was observed by scanning electron microscopy. The results show that the longer the discharge treatment time is, the larger the discharge output voltage is, the smaller the discharge gap is, the faster the hydrophilicity of the surface of the ceramic sheet is, and the higher the activation energy is. The damage of the ceramic surface after treatment is small, and the impurities on the surface are destroyed. In general, the surface properties of ceramics after dielectric barrier discharge treatment are better than before.

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An improved teaching-learning-based optimization

An improved teaching-learning-based optimization

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第37届中国控制会议

作者： Jie Hou Ziwu Ren Pan Lu Kunting Zhang Robotics and Microsystems Center Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University

Teaching-learning-based optimization（TLBO） is a new proposed heuristic algorithm for optimization applications in recent years. In this paper, an improved TLBO algorithm（ITLBO） is presented. In the teacher phase, the second-teaching strategy and self-exploration study of teacher are introduced to improve the convergence speed. And the improved learner phase can ensure the diversity of the population to avoid the possibility of falling into a local optimum. Meanwhile, second-teaching strategy and the improved learner phase enable the algorithm to use fine local search and improve the precision. To assess the performance of ITLBO algorithm, experiments are implemented on 8 classical benchmark functions. The result show that ITLBO algorithm is an effective approach.

关键词： Teaching-learning-based optimization Second-teaching strategy Teacher’s self-exploration study

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Sim4EndoR: A Reinforcement Learning centered Simulation Platform for Task Automation of Endovascular robotics

arXiv

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arXiv 2025年

作者： Yao, Tianliang Ban, Madaoji Lu, Bo Pei, Zhiqiang Qi, Peng Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electrical and Electronic Engineering Faculty of Engineering The University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Jiangsu Suzhou China School of Oriental Pan-Vascular Devices Innovation College University of Shanghai for Science and Technology 516 Jungong Road Shanghai200093 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Robotic-assisted percutaneous coronary intervention (PCI) holds considerable promise for elevating precision and safety in cardiovascular procedures. Nevertheless, current systems heavily depend on human operators, resulting in variability and the potential for human error. To tackle these challenges, Sim4EndoR, an innovative reinforcement learning (RL) based simulation environment, is first introduced to bolster task-level autonomy in PCI. This platform offers a comprehensive and risk-free environment for the development, evaluation, and refinement of potential autonomous systems, enhancing data collection efficiency and minimizing the need for costly hardware trials. A notable aspect of the groundbreaking Sim4EndoR is its reward function, which takes into account the anatomical constraints of the vascular environment, utilizing the geometric characteristics of vessels to steer the learning process. By seamlessly integrating advanced physical simulations with neural network-driven policy learning, Sim4EndoR fosters efficient sim-to-real translation, paving the way for safer, more consistent robotic interventions in clinical practice, ultimately improving patient outcomes. © 2025, CC BY.

关键词： Reinforcement learning

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An Evaluation Method of Wearing Comfort for Exoskeleton RobotsBehaviors

An Evaluation Method of Wearing Comfort for Exoskeleton Robo...

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2018 IEEE International Conference on robotics and Biomimetics, ROBIO 2018

作者： Li, Weida Zhang, Haojie Li, Juan Zhu, Qihuan Provincial Jiangsu Key Laboratory for Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou21502 China School of Mechanical and Electric Engineering Soochow University Suzhou Jiangsu215021 China

ISBN: (纸本)9781728103761

Human-machine interface (HMI) is the link between Exoskeleton and wearer, and the study of wearing comfort of HMI is of great significance for Exoskeleton robots. On the basis of the analysis of HMI mechanism model, this paper proposes an evaluating method of wearing comfort. By measuring the force of HMI mechanism and combining the wearer's subjective feeling, wearing comfort model is built. Finally, the rationality of wearing comfort model is verified by experimental research. © 2018 IEEE.

关键词： Exoskeleton (robotics)

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A robust and accurate SLAM algorithm for omni-directional mobile robots based on a novel 2.5D lidar device 13

A robust and accurate SLAM algorithm for omni-directional mo...

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13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

作者： Yang, Yu Yang, Guilin Tian, Yingzhong Zheng, Tianjiang Li, Long Wang, Zhenhua Ningbo Institute of Materials Technology and Engineering CAS Ningbo315201 China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology China School of Mechatronic Engineering and Automation Shanghai University Shanghai China Jiangsu Provincial Key Laboratory of Advanced Robotics Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou215123 China

ISBN: (纸本)9781538637579

Lidars are commonly employed in mobile robot SLAM applications due to their high stability and high measuring accuracy. For a conventional 2D Lidar, only the planar points can be detected in once scan, which limits the robustness of SLAM algorithms. Omni-directional mobile robots with powered caster wheels have 3-DOF planar motion capabilities so that they are widely deployed in narrowly constrained environment. This paper presents a novel design of a 2.5D Lidar device, in which a 2D Lidar is mounted onto a 1-DOF liner stage that moves along the vertical direction. As a result, the 2.5D Lidar device can also perform vertical scanning within the motion range of the liner stage. Consequently, a robust SLAM algorithm based on the 2.5D Lidar device is proposed for the omni-directional mobile robot, where a frame-to-frame scan matching using ICP algorithm is employed to improve the robustness and accuracy of the scan matching. As the 2.5D points cloud is actually located in a belt-shaped space, the map can be finally constructed in a 2D mode to reduce the computational complexity. In addition, when an incorrect matching occurs, the odometry information of the mobile robot will be employed to further improve the robustness and accuracy of the scan matching algorithm. The effectiveness of the proposed approach is validated through computer simulations. © 2018 IEEE.

关键词： Optical radar

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Release Method of Microobjects Based on Piezoelectric Vibration

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第1期34卷 37-42页

作者： Chen Tao Wang Yaqiong Yang Zhan Liu Huicong Sun Lining Jiangsu Provincial Key Laboratory of Advanced Robotics&Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123P.R.China

A release method of microobjects is presented based on the piezoelectric *** achieve an effective release,the piezoelectric vibration is added to overcome adhesion force happened in the *** technique employs inertia force to overcome adhesion force,thereby achieving 90%repeatability with a releasing accuracy of 4± 0.5μm,which was experimentally quantified through the manipulation of 20—80μm polystyrene spheres under an optical *** results confirmed that this adhesion control technique was independent of *** analyses were conducted to understand the releasing ***,the micromanipulation system proved to be effective for active releasing of micromanipulation.A novel gripper structure with triple finger is *** the design,three cantilevers are considered as the end effectors of the fingers,driven by piezoelectric ceramic transducer(PZT).Tungsten tipped probes are used to pick and place the micro objects.

关键词： microelectromechanical systems (MEMS) micromanipulation piezoelectric vibration

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Research Progress in Bayesian Program Learning

Research Progress in Bayesian Program Learning

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2018 International Conference on Communication, Network and Artificial Intelligence (CNAI 2018)

作者： Zong-jian ZHU Ming-qiang PAN Cheng SUN Lei JIU Li-ning SUN College of Mechatronics Engineering & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Jiangsu Key Laboratory for Advanced Robotics Technology Soochow University Robotics and Microsystems Center Soochow University

Bayesian Program Learning(BPL) is an important area of machine *** recent years,the small sample learning model with BPL as the core has made breakthroughs in methodology and performance,attracting great attention from both industry and *** paper reviews the research progress and application of *** of all,it introduces the research background,development history and research route of ***,a brief overview of Bayesian model,reasoning algorithm,based on this,a detailed review of Bayesian learning based on speech,assembly,motion learning,bias diagnosis,learning effectiveness assessment,classification and so on,to explain the application of the method,tools,experimental results,and a brief overview of open source tools for probability ***,the paper summarizes and points out the future research direction of BPL.

关键词： Bayesian program learning Bayesian network Bayesian model

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Effect of Magnetic Field on Activation Performance of Silicon/Glass Dielectric Barrier Discharge

Effect of Magnetic Field on Activation Performance of Silico...

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第十九届国际电子封装技术会议(ICEPT 2018)

作者： Mingqiang Pan Furong Yao Jizhu Liu Yangjun Wang Lining Sun College of Mechatronics Engi-neering & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Jiangsu Key Laboratory for Advanced Robotics TechnologySoochow University Robotics and Microsystems Center Soochow University Suzhou China

In order to study the influence of the magnetic field on the surface activity of the low-temperature anode bonding material in the dielectric barrier discharge,a dielectric barrier discharge device with and without a magnetic field is used,and the glass in the anode bonding is used as a dielectric barrier *** results of analysis and characterization using angular contact instrument and surface free energy measuring instrument show that the dielectric angle barrier discharge plasma treatment with and without magnetic field can reduce the contact angle and free energy of the silicon/glass *** the discharge gap of 0.08mm,when the magnetic field is absent,the hydrophilic angle of the glass approaches 0°,and the hydrophilic angle of the silicon wafer is as low as 19°.When the magnetic field is applied,the hydrophilic angle of the glass approaches 0°.The minimum hydrophilic angle of the tablet is up to 14°.By contrast,the hydrophilic angle and free energy of silicon/glass materials treated by a dielectric barrier discharge with magnetic field are better.

关键词： dielectric barrier discharge anodic bonding magnetic field

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Cell microinjection device suitable for curved needle based on triangular flexible mechanism

Cell microinjection device suitable for curved needle based ...

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IEEE International Conference on robotics and Biomimetics

作者： Su Yan Haibo Huang Liguo Chen Xiwei Gao Yaqing Li Jiangsu Provincial Key Labratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

ISBN: (纸本)9781728103785;9781728103778

Existing microinjection needles are curved needles, but most of the current cell injection devices are designed for straight needles. In addition, the existing microinjection needle causes large lateral vibration when the membrane is broken. Although lateral vibration is also considered as an important condition for cell membrane rupture, large lateral vibration will cause great damage to the cells and reduce the success rate of cell injection. To a certain extent, it has formed a contradiction with the rapid development of modern biomedicine. To this end, this paper proposes a micro-injection needle suitable for curved needles based on a triangular flexible mechanism, which can greatly reduce the lateral vibration during cell injection, and plays a guiding role in axial. It is also suitable for the more popular injection bending needle. Simulation results show that the microinjection needle can obtain less lateral vibration and more stable axial vibration.

关键词： Fasteners Vibrations Force Needles Microinjection Resonant frequency Piezoelectric actuators

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A Novel Nanoparticle Concentration Measurement Method Using Atomic Force Microscope

A Novel Nanoparticle Concentration Measurement Method Using ...

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IEEE International Conference on robotics and Biomimetics

作者： Guanghui Xuan Botao Zhu Hao Yang Liang Cheng Robotics and Microsystems Center Soochow University Suzhou Jiangsu China Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices Soochow University Suzhou Jiangsu China

ISBN: (纸本)9781728103785;9781728103778

Methods to efficiently measure the concentration of nanoparticles in liquid suspensions are extremely important in nanoparticle-based applications. Existing nanoparticle concentration measurement methods such as nanoparticle tracking analysis (NTA), single particle-inductively coupled plasma-mass spectroscopy (SP-ICP-MS) and TEM have inherent limitations, including size requirements, special physical or chemical properties and special sample preparation. This paper presents a novel method to measure the concentration of nanoparticles by atomic force microscope. Nanoparticles distribution property after complete evaporation on silicon wafer was found and particles amount estimation theory was established, which enabled accurate and efficient measurement of nanoparticles concentration. The nanoparticle suspensions with different concentration, size and type were measured by the proposed approach, respectively. The results were compared with the estimated concentration by mass fraction, which demonstrated the effectiveness and correctness of this AFM-based measurement method.

关键词： Nanoparticles Atmospheric measurements Particle measurements Nanobioscience Silicon Pollution measurement Ethanol

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