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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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A regeneration strategy based on synchronous utilization in surface impurities of degradation nickel-rich material

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Progress in Natural Science:Materials International 2024年第4期34卷 710-719页

作者： Junfeng He Shijie Wang Peng Wei Jian Liu Yurong Ren School of Materials Science and Engineering Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power Battery Changzhou Key Laboratory of Intelligent Manufacturing and Advanced Technology for Power Battery Changzhou University

The LiNi0.83Co0.12Mn0.05O2（Ni-rich NCM） cathode materials have been widely studied owing to their high energy density and excellent rate capability. However, Ni-rich NCM is prone to form large amounts of lithium impurities and causes structural decline, resulting in inconvenient material storage. To this end, Li4SiO4/SiO2was used as a structural regulator to eliminate the residual lithium and convert the irreversible phase. The Li4SiO4/SiO2protective coating effectively suppresses the corrosion of the electrolyte by blocking the direct contact between the electrode and the electrolyte, while having a high air stability under the hydrophobic action. In addition, SiO2has excellent corrosion resistance, which further enhances the cyclic stability of the material. The obtained regenerated NCM material displayed a great capacity of 198.6 mAh g-1at 0.3 C and long cycling stability（capacity retention of 82.2 % after 250 cycles）. This simple repair strategy significantly reduces the loss rate in industrial production and enhances the electrochemical performance while achieving material reuse.

关键词： LiNi0.83Co0.12Mn0.05O2 Structural repair Li4SiO4 SiO2 Surface coating

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Data-physics collaborativige fusion prediction method for tool remaining useful life based on Mamba state space and physical description

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Journal of manufacturing Systems 2025年 81卷 1-15页

作者： Yue, Caixu Qin, Yiyuan Liu, Xianli Gu, Hao Sun, Shaocong Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Tool wear is an inherent phenomenon of the metal cutting process, the traditional replacement strategy relies on experience or a fixed cycle easily leads to waste of resources or workpiece damage, accurate prediction of the tool's remaining useful life (RUL) has become a key issue in the field of intelligent manufacturing urgently need to break through. Aiming at the problems of insufficient nonlinear processing capability of physical models and weak interpretability of data-driven models in the existing RUL prediction, this study proposes a data-physics collaborative fusion prediction method for tool remaining useful life based on Mamba state space and physical description. The method breaks through the traditional single-model paradigm and achieves in-depth characterization of the cutting process through a dual modeling mechanism: firstly, a time-series feature extraction network based on the Mamba state space is constructed, and a selective memory mechanism is adopted to achieve the screening of degradation features and non-linear characterization;secondly, a two-stage piecewise physical degradation model is established. The explicit mathematical expressions are deduced based on the geometrical features of the tool wear curve, and the prior distributions of the model parameters are estimated from historical data. The Particle Filter (PF) algorithm is introduced to establish a collaborative optimization mechanism for the dual models, and the physical parameters are dynamically updated through importance sampling to achieve tool RUL prediction under Data-physics collaborative fusion (DPCF). The experimental results show that the method can achieve accurate monitoring of tool RUL and has a certain reference value for efficient tool change in the metal-cutting process. © 2025 The Society of manufacturing Engineers

关键词： Metal cutting

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Review of rolling bearings performance degradation trend prediction

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Noise and Vibration Worldwide 2024年第11期55卷 585-604页

作者： Wang, Yaping Lu, Kaiting Dong, Renquan Fan, Yuqi Jiang, Xudong Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin China

Rolling bearings are widely used in rotating machinery in modern industry, and ensuring their stability during operation is one of the prerequisites for the overall safety of the equipment. Predicting performance degradation can play a key role in preventing accidents and extending equipment life. With the development of big data and deep learning, more trend prediction methods are emerging in the field of performance degradation prediction of rolling bearings. Therefore, this paper reviews the evaluation indicators and performance degradation prediction models for rolling bearing performance degradation prediction. The advantages and disadvantages of physical degradation indicators, and virtual degradation indicators are analyzed. It is presented to utilize the powerful feature self-extraction ability and nonlinear function characterization ability of deep learning methods to construct bearing evaluation indicators. It also analyzes the research progress of traditional performance degradation prediction models and deep learning prediction models. In this review, future developments in rolling bearing performance degradation prediction are summarized in this paper as deep learning-based, digital twin correlation, high dimensionality, and adaptive, which guide researchers and practitioners to effectively identify suitable performance degradation prediction models. © The Author(s) 2024.

关键词： Prediction models

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Current Status of Patent Research on Picking End Effector

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Recent Patents on Engineering 2024年第6期18卷 39-54页

作者： Wu, Xilong Xie, Baocheng Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: Fruit and vegetable picking, as the most important part of fruit and vegetable production, is a labor-intensive industry. Fruit and vegetable picking robots can effectively improve the efficiency of picking and reduce labor requirements. As the most important part of the picking robot, the picking end-effector effectively plays a key role in improving the picking efficiency and ensuring the wholeness of the fruit. Therefore, the development trend of picking end ef-fectors has received more and more attention. Objective: The study aimed to solve the problems of high labor consumption and low picking efficiency of manual picking;thus, the grasping method of the picking end effector has been continu-ously improved. Methods: This article has presented various representative patents related to the picking end effec-tor, such as the suction end effector, multi-finger end effector, and bionic end effector. Results: Through the investigation of a large number of picking end effector patents, the current problems, such as low accuracy and large clamping damage, are summarized and analyzed. In addi-tion, the future trends of fruit and vegetable picking end effectors are discussed. Conclusion: The optimization of the picking end effector is conducive to reducing manual labor and improving the picking rate of fruits and vegetables. More relevant patents will be invented in the future. © 2024 Bentham Science Publishers.

关键词： Bionics

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Research Progress of 3D Printing Technology for Pharmaceutical Preparation

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Recent Patents on Engineering 2024年第2期18卷 127-139页

作者： Tang, Liqiang Xie, Baocheng Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Ministry of Education Harbin150080 China

Pharmaceutical preparation is a kind of finished pharmaceutical product made by combining raw materials with various auxiliary materials in a certain form. At present, the field of pharmaceutical preparations can meet most drug needs, but there are some limitations. It is difficult to realize the production of personalized preparations. Because 3D printing technology has the ability of precise dose control and flexible shape customization, it can realize precise control of drug dosage, release behavior and local targeting in pharmaceutical preparations. Therefore, in medicine, 3D printing technology is increasingly used in the field of pharmaceutical preparations. 3D printing technology provides an important means for new drug printing and personalized drug customization of pharmaceutical preparations in the medical field. The 3D printing technology of drugs will inject fresh vitality into individualized drug delivery. Therefore, the development trend of 3D printing technology for pharmaceutical preparations has attracted more and more attention. In order to optimize the wide application of 3D printing technology in pharmaceutical preparation, 3D printing technology such as inkjet 3D printing technology, extrusion 3D printing technology and laser 3D printing technology were studied. In this paper, the selection, classification and introduction of 3D printing technology such as inkjet 3D printing technology, extrusion 3D printing technology and laser 3D printing technology in pharmaceutical preparations are reviewed. Through the investigation of various patents of 3D printing technology applied to pharmaceutical preparation in medicine, this paper summarizes and analyzes the main problems of 3D printing technology applied to pharmaceutical preparations, such as printing stability, production quality, etc. In addition, the development trend of 3D printing technology is also discussed. Optimization of various 3D printing technologies applied to pharmaceutical preparati

关键词： Extrusion

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Present Situation and Future Prospects of Motor Cooling System

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Recent Patents on Engineering 2024年第7期18卷 103-115页

作者： Hou, Jinting Xie, Baocheng Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Background: The motor cooling system is mainly used in aerospace, automotive, and marine fields, where the motor system is cooled to extend the service life and safety of the motor. The running power of motors rises too fast, which leads to the failure of heat dissipation as ex-pected and shortens the service life of motors. Therefore, it is necessary to choose an appropriate cooling mode for motors to improve their cooling structure, reduce their temperature rise, and improve their reliability and service life. The internal motor cooling system can perform fixed-point heat dissipation, but the overall heat dissipation is poor. The external motor cooling system can perform overall heat dissipation but has high requirements on the structure. Over the years, the application and development of motor cooling systems have gained more and more attention. Objective: This paper discusses the structural characteristics, advantages, and development trends of the motor cooling system in order to reduce the temperature rise of the motor and improve its reliability and service life. This paper aims to provide an overview and systematic guidance for future designs of the motor cooling system. Methods: According to the structural characteristics of the motor cooling system and the requirements of the motor application field, the most typical internal cooling system and external cooling system in the motor cooling system are summarized. Results: By analyzing the causes and hazards of motor heating, the limited requirements of the motor system in use are summarized. The motor system is classified and compared based on the struc-ture, heat dissipation principle, and use of the motor heat dissipation system. The characteristics of small volume and strong heat dissipation ability are also summarized. Based on the analysis of the internal and external cooling system, the problems of complex structure and poor cooling effect are summarized, and the future development trend and direction

关键词： Cooling systems

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Recent research on magnetic machinery

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Recent Patents on Engineering 2024年第3期18卷 1-12页

作者： Lu, Zikang Xie, Baocheng Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

As a clean energy source, magnetic energy is a significant power source of mechanical equipment, which affects the direction of control mode and mechanical structure of mechanical equipment. Magnetic machinery is widely used in industrial power systems and automatic control systems as the power source of mechanical equipment transmission parts or actuators. Magnetic machinery is essential to make mechanical equipment easy to control, energy saving and environmental protection, simple structure, and so on. In order to innovate the control mode of mechanical equipment and optimize the types of traditional mechanical systems, magnetic machinery developed magnetic coupling, magnetic gear, magnetic spring, and other magnetic machinery. The characteristics of magnetic machines with different functions are analyzed based on the types of magnetic machines. Therefore, this aspect's development and application are getting more attention in recent years. To innovate the control mode of mechanical equipment and optimize the types of traditional mechanical structures, magnetic types of machinery, such as magnetic coupling, magnetic gear, and magnetic spring, are making continuous progress. New magnetic machines are also being developed. This paper summarizes the typical patents on three kinds of magnetic machinery: Magnetic coupling, magnetic gear and magnetic spring. In addition, the advantages of existing magnetic machinery are summarized, the current situation of magnetic machinery is analyzed, and the development of magnetic machinery is summarized. Through the analysis of enormous patents of magnetic coupling, magnetic gear, and magnetic spring, it is concluded that although there are many kinds of magnetic machinery, there are no systematic and mature design theories and methods. The development trend of magnetic machinery is also discussed. The research on magnetic machinery helps innovate mechanical equipment's control mode and optimize the types of traditional mechanica

关键词： Magnetic couplings

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An in-situ cross-linked network PMMA-based gel polymer electrolyte with excellent lithium storage performance

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Journal of Materials Science & Technology 2024年第32期199卷 197-205页

作者： Shaopan Qin Min Wu Hongshun Zhao Jianbin Li Maoyin Yan Yurong Ren Yanli Qi School of Materials Science and Engineering Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power BatteryChangzhou Key Laboratory of Intelligent Manufacturing and Advanced Technology for Power BatteryChangzhou UniversityChangzhou 213164China

Gel polymer electrolytes(GPEs)effectively combine the advantages of high ionic conductivity and re-duce the risk of leakage associated with *** this study,a chemically cross-linked gel polymer electrolyte was prepared by in-situ polymerization using polymethyl methacrylate(PMMA)as a matrix and neopentyl glycol diacrylate(NPGDA)as cross-linking *** cross-linked structure of the GPE was preliminarily investigated,as well as the influence of the degree of cross-linking on its phys-ical *** GPE exhibited a superior conductivity of 1.391 mS cm^(-1) at 25℃.Herein,the Li|GPE|LiNi_(0.8) Co_(0.1) Mn_(0.1) O_(2) cell has an excellent capacity retention rate of 80.7%after 150 cycles at 0.5 C in addition to a high discharge specific capacity of 203 mAh g^(-1).The structure of the cathode ma-terial is shielded from the production of byproducts during the charging and discharging of lithium-ion batteries by the cross-linked PMMA GPE.

关键词： Lithium-ion batteries In-suit polymerization Gel polymer electrolyte Polymethyl methacrylate Cross-linked network

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Review of key technologies of climbing robots

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Frontiers of Mechanical Engineering 2023年第4期18卷 79-96页

作者： Ye DAI Shikun LI Xukun RUI Chaofang XIANG Xinlei NIE Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education Harbin University of Science and TechnologyHarbin 150080China

In recent years,the robot industry has developed rapidly,and researchers and enterprises have begun to pay more attention to this *** are barely familiar with climbing robots,a kind of special ***,from their practical value and scientific research value,climbing robots should studied *** paper analyzes and summarizes the key technologies of climbing robots,introduces various kinds of climbing robots,and examines their advantages and disadvantages to provide a reference for future *** countries have studied climbing robots and made some ***,due to the complexity of climbing robots,their climbing efficiency and accuracy need to be further *** new structure can improve the climbing *** paper analyzes climbing robots such as mechanical arms,magnetic attraction,and *** methods and path planning can improve the accuracy of *** paper involves some control methods,including complex intelligent control methods such as behavior-based robot *** paper also investigates various kinematic planning methods and expounds and summarizes various path planning algorithms,including machine learning and reinforcement learning of artificial intelligence,ant colony algorithm,and other ***,by analyzing the research status of climbing robots at home and abroad,this paper summarizes three important aspects of climbing robots,namely,structural design,control methods,and climbing strategies,elaborates on the achievements and existing problems of these key technologies,and looks forward to the future development trend and research direction of climbing robots.

关键词： climbing robot mechanical structure design control system kinematics planning path planning

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