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Reconfiguring Surface Acoustic Wave Microfluidics via In Situ Control of Elastic Wave Polarization

Physical Review Letters 2025年第3期134卷 037002-037002页

作者： Yu Gao (郜煜) Thomas Voglhuber-Brunnmaier Yuekang Li Leyla Akh Nicholas H. Patino Apresio Kefin Fajrial Massimo Ruzzene Bernhard Jakoby Xiaoyun Ding Paul M. Rady Department of Mechanical Engineering University of Colorado Boulder Colorado 80309 USA Institute for Microelectronics and Microsensors Johannes Kepler University Linz Austria Biomedical Engineering Program University of Colorado Boulder Colorado 80309 USA Materials Science and Engineering Program University of Colorado Boulder Colorado 80309 USA BioFrontiers Institute University of Colorado Boulder Colorado 80309 USA

We demonstrate in situ control of the elastic wave polarization in a surface acoustic wave (SAW). It allows us to create highly reconfigurable SAW microfluidics that can be switched on demand between the acoustohydrodynamic (AHD) regime and electrohydrodynamic (EHD) regime for manipulating particles and cells. The control of wave polarization comes from our experimental and theoretical identification of an unexpected shear-horizontal (SH) wave mode in a conventional Rayleigh (R) wave design, which is stereotyped to excite only vertically polarized Rayleigh SAWs. The SH wave mode is predominantly horizontally polarized and can be selectively excited to propagate in the same direction as the Rayleigh SAW. Such a selective wave generation between the SH mode and R mode allows for reconfiguration between AHD and EHD regimes that leads to unprecedented colloidal patterns and assembly dynamics. Such a reconfiguration of the particle manipulation mechanism can be explained by the controllable competition or synergism between the coexisting acoustic and electric fields. Remarkably, in the EHD regime, a virtual zero-boundary electric quadrupole is created, and a novel colloidal diamond-shaped assembly is observed in this piezoelectric-quadrupole trap, which was rarely reported in acoustic or electric microfluidics. The presented in situ control of polarization revolutionizes our understanding of SAW and acoustofluidics, expands its potential by assuming the advantages of AHD and EHD on demand, and inspires new strategies in micro- and nanoscale manufacturing and manipulation, with applications beyond fundamental scientific interest.

关键词： Microfluidics

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Ergodic Exploration over Meshable Surfaces

arXiv

引用

arXiv 2025年

作者： Dong, Dayi Xu, Albert Gutow, Geordan Choset, Howie Abraham, Ian Department of Mechanical Engineering University of California Berkeley BerkeleyCA94709 United States Robotics Institute Carnegie Mellon University 5000 Forbes Ave. PittsburghPA15213 United States Department of Mechanical Engineering and Materials Science Yale University New Haven06511 United States

Robotic search and rescue, exploration, and inspection require trajectory planning across a variety of domains. A popular approach to trajectory planning for these types of missions is ergodic search, which biases a trajectory to spend time in parts of the exploration domain that are believed to contain more information. Most prior work on ergodic search has been limited to searching simple surfaces, like a 2D Euclidean plane or a sphere, as they rely on projecting functions defined on the exploration domain onto analytically obtained Fourier basis functions. In this paper, we extend ergodic search to any surface that can be approximated by a triangle mesh. The basis functions are approximated through finite element methods on a triangle mesh of the domain. We formally prove that this approximation converges to the continuous case as the mesh approximation converges to the true domain. We demonstrate that on domains where analytical basis functions are available (plane, sphere), the proposed method obtains equivalent results, and while on other domains (torus, bunny, wind turbine), the approach is versatile enough to still search effectively. Lastly, we also compare with an existing ergodic search technique that can handle complex domains and show that our method results in a higher quality exploration. © 2025, CC BY-NC-ND.

关键词： Wind turbines

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Deformable Gaussian Splatting for Efficient and High-Fidelity Reconstruction of Surgical Scenes

arXiv

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arXiv 2025年

作者： Shan, Jiwei Cai, Zeyu Hsieh, Cheng-Tai Cheng, Shing Shin Wang, Hesheng Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China

Efficient and high-fidelity reconstruction of deformable surgical scenes is a critical yet challenging task. Building on recent advancements in 3D Gaussian splatting, current methods have seen significant improvements in both reconstruction quality and rendering speed. However, two major limitations remain: (1) difficulty in handling irreversible dynamic changes, such as tissue shearing, which are common in surgical scenes;and (2) the lack of hierarchical modeling for surgical scene deformation, which reduces rendering speed. To address these challenges, we introduce EH-SurGS, an efficient and high-fidelity reconstruction algorithm for deformable surgical scenes. We propose a deformation modeling approach that incorporates the life cycle of 3D Gaussians, effectively capturing both regular and irreversible deformations, thus enhancing reconstruction quality. Additionally, we present an adaptive motion hierarchy strategy that distinguishes between static and deformable regions within the surgical scene. This strategy reduces the number of 3D Gaussians passing through the deformation field, thereby improving rendering speed. Extensive experiments demonstrate that our method surpasses existing state-of-the-art approaches in both reconstruction quality and rendering speed. Ablation studies further validate the effectiveness and necessity of our proposed components. We will open-source our code upon acceptance of the paper. Copyright © 2025, The Authors. All rights reserved.

关键词： Gaussian distribution

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Machine-learning-driven prediction of flow curves and development of processing maps for hot-deformed Ni–Cu–Co–Ti–Ta alloy

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Journal of Materials Research and Technology 2025年 36卷 7447-7456页

作者： Reliance Jain Sandeep Jain Sheetal Kumar Dewangan M.R. Rahul Sumanta Samal Eunhyo Song Younggeon Lee Yongho Jeon Krishanu Biswas Gandham Phanikumar Byungmin Ahn Department of Materials Science and Engineering Ajou University Suwon 16499 Republic of Korea Department of Mechanical Engineering Ajou University Suwon 16499 Republic of Korea Department of Automation & Robotics Engineering Prestige Institute of Engineering Management and Research Indore 452010 India School of Materials Science and Engineering Yeungnam University Gyeongsan 38541 Republic of Korea Department of Fuel Minerals and Metallurgical Engineering Indian Institute of Technology (ISM) Dhanbad 826004 India Department of Metallurgy Engineering and Materials Science Indian Institute of Technology Indore Indore 453552 India Department of Energy Systems Research Ajou University Suwon 16499 Republic of Korea Department of Materials Science and Engineering Indian Institute of Technology Kanpur Kanpur 208016 India Department of Metallurgical and Materials Engineering Indian Institute of Technology Madras Chennai 600036 India

Optimizing hot deformation conditions is critical for achieving efficient thermo-mechanical processing of advanced alloy systems. In this study, a multicomponent Ni 48 Cu 10 Co 2 Ti 38 Ta 2 alloy was developed, exhibiting a refined eutectic microstructure composed of NiTi and Ni 3 Ti phases, along with coarse Ti 2 Ni and NiTi dendritic phases. High-temperature compression tests were performed using a Gleeble® thermo-mechanical simulator over a temperature range of 973–1273 K and strain rates from 10 −2 to 10 s −1 to investigate the alloy flow behavior. To reduce experimental efforts and enhance prediction accuracy, five machine learning (ML) models random Forest (RF), XGBoost (XGB), decision tree (DT), K-Nearest neighbor (KNN), and gradient boosting (GB) were applied to predict the flow stress–strain response and construct processing maps. Among these, the RF model demonstrated superior predictive performance, particularly at a strain rate of 0.1 s −1 , with R 2 = 0.97, RMSE = 10.1 %, and MAE = 8.9 %. The flow curves predicted by the RF model were used to develop precise processing maps, identifying optimal and safe deformation conditions. The resulting processing maps were validated through experiments, confirming that the alloy can be safely deformed within the temperature range of 1173–1273 K and strain rates between 10 −0.8 and 10 −2 s −1 . This integrated experimental–computational approach offers a reliable and efficient strategy for determining hot working conditions, reducing material and energy consumption. It also presents a robust framework for advancing the development of high-temperature alloy systems through the combination of ML techniques and experimental validation.

关键词： Ni–Ti-Based alloy Hot deformation Kinetic analysis Processing map Machine learning

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Semiconductor Manufacturing Industry: Assessment, Challenges, and Future Trends 2

Semiconductor Manufacturing Industry: Assessment, Challenges...

引用

2nd International Conference on Advanced Innovations in Smart Cities, ICAISC 2025

作者： Musa, Yasmin Tantawi, Khalid Mikhail, Maged Ma, Jeffrey Alharthi, Dalal Flatt, Larry Potter, Lyn Motlow State Community College Department of Career Readiness SmyrnaTN United States Department of Engineering Management and Technology University of Tennessee at Chattanooga TN United States Purdue University Northwest Hammond Department of Engineering Technology IN United States Saint Louis University Saint Louis Department of Mechanical Engineering MO United States College of Applied Science and Technology University of Arizona Tuscan AZ United States Robotics and Automation Center Motlow State Community College McMinnvilleTN United States Chattanooga State Community College Chattanooga State Community College Dept. of Engineering Systems Tech. ChattanoogaTN United States

ISBN: (纸本)9798331506995

In this work we evaluate the state of the semiconductor manufacturing industry and its challenges and trends. Future trends in the industry are analyzed from three perspectives: the evolution of Industry 4.0, the advances in semiconductor materials, and the impact of the Covid-19 Pandemic. The semiconductor manufacturing industry witnessed an acute decline in the United States and other regions in the two decades prior to the CoVid-19 pandemic. The decline was only uncovered after the chip shortage of 2021 that resulted from the severe supply chain disruption. Trends in the industry were analyzed from three perspectives: Industry 4.0, advances in materials, and the Post-pandemic era. As a result of the evolution of the fourth generation of industry (Industry 4.0), trends in semiconductor manufacturing include robotization, which caused the industry to become the largest market for industrial robotics since 2020, and an all-time peak globalization. The semiconductor industry is a very globalized industry with corporates from different parts of the world taking part in the production of the final product. Although some materials such as carbon and Gallium Nitride show promising trends to replace silicon as the material of choice. It will likely not be before two or three decades when a semiconductor material will be able to replace silicon. Challenges for the industry include the shortage of the trained-workforce, and the added inter-country restrictions that may hinder the globalization of the industry. © 2025 IEEE.

关键词： Semiconductor alloys

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A comparative study of the structural and optoelectronic properties of Al- and Ga-doped ZnO films deposited by atmospheric pressure plasma jet

引用

Journal of Alloys and Compounds 2025年 1031卷

作者： Chou, Chih-Yun Chiu, Po-Han Chao, Yin-Chun Yen, Hung-Wei Juang, Jia-Yang Program in Nanoengineering and Nanoscience Graduate School of Advanced Technology National Taiwan University Taipei106319 Taiwan Department of Materials Science and Engineering National Taiwan University Taipei106319 Taiwan Department of Mechanical Engineering National Taiwan University Taipei106319 Taiwan

The high cost of gallium has driven interest in aluminum-doped zinc oxide (AZO) as a cost-effective alternative to gallium-doped zinc oxide (GZO). While prior studies have primarily focused on sputtering methods to compare AZO and GZO, research on non-sputtering techniques remains limited. Our previous works demonstrated favorable optoelectronic properties in GZO films deposited via atmospheric pressure plasma jet (APPJ);however, APPJ-deposited AZO has yet to be explored. In this study, we compare AZO and GZO thin films fabricated by APPJ under ambient conditions. We find that the deposition rate of AZO is approximately twice that of GZO under the same processing parameters, due to differences in droplet size from the ultrasonic generator. By adjusting precursor delivery and working distance (the nozzle-to-substrate gap), we can tune film thickness, morphology, and optoelectronic properties, showcasing APPJ's versatility over sputtering. Despite similar precursor concentrations and film thickness, AZO films exhibit lower carrier concentration (∼1 ×1020 cm–3) and mobility (∼7.5 cm2/Vs) than GZO (∼8 ×1020 cm–3 and ∼15 cm²/Vs), attributed to reduced aluminum incorporation (∼0.4 at% vs. ∼2.2 at% in GZO). Reducing the working distance from 2 mm to 1.5 mm improves both films’ structural integrity and optoelectronic performance (figure of merit increases by 140 % for GZO and 100 % for AZO). However, AZO remains inferior to GZO, highlighting the need for further optimization. © 2025 Elsevier B.V.

关键词： Transparent conducting oxides

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Optimization of biomass-fueled vertical corn drying: Efficiency, energy balance, and sustainability

引用

Results in engineering 2025年 26卷

作者： Sukmawaty, Sukmawaty Syahrul, Syahrul Amuddin, Amuddin Rahmi, Sri Helmayana Syahrul, Ahmad Ibrahim Agricultural Engineering Study Program Faculty of Food Technology and Agroindustry University of Mataram Mataram83125 Indonesia Mechanical Engineering Department Engineering Faculty University of Mataram Mataram83125 Indonesia

This study investigates the thermal performance and energy efficiency of a biomass-fueled vertical dryer utilizing candlenut shell biomass for corn drying. The objective is to evaluate drying behavior under continuous and discontinuous operation modes at different temperature settings. A custom-built dryer was developed and tested at 45 °C, 50 °C, and 55 °C, and energy input, drying time, and efficiency were recorded. Statistical analyses, including paired t-tests, were conducted to examine the significance of operational differences. Results show that continuous drying at 50 °C and 55 °C significantly improves drying efficiency, reaching above 66 %, and reduces drying time compared to discontinuous modes. Candlenut shells performed well as a renewable fuel, offering stable combustion and minimal ash production, outperforming traditional fuels such as rice husks and corn cobs in similar drying conditions. Energy analyses indicated balanced energy use, while future work should address post-drying quality characteristics and automation. These findings suggest that candlenut shells are a viable, sustainable alternative for efficient post-harvest thermal processing, particularly in rural agro-industrial settings. © 2025 The Authors

关键词： Energy utilization

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The Geometry of Optimal Gait Families for Steering Kinematic Locomoting Systems

arXiv

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arXiv 2025年

作者： Choi, Jinwoo Deng, Siming Justus, Nathan Cowan, Noah J. Hatton, Ross L. Institute Oregon State University CorvallisOR United States Laboratory for Computational Sensing and Robotics Department of Mechanical Engineering Johns Hopkins University BaltimoreMD21218 United States

Motion planning for locomotion systems typically requires translating high-level rigid-body tasks into low-level joint trajectories—a process that is straightforward for car-like robots with fixed, unbounded actuation inputs but more challenging for systems like snake robots, where the mapping depends on the current configuration and is constrained by joint limits. In this paper, we focus on generating continuous families of optimal gaits—collections of gaits parameterized by step size or steering rate—to enhance controllability and maneuverability. We uncover the underlying geometric structure of these optimal gait families and propose methods for constructing them using both global and local search strategies, where the local method and the global method compensate each other. The global search approach is robust to nonsmooth behavior, albeit yielding reduced-order solutions, while the local search provides higher accuracy but can be unstable near nonsmooth regions. To demonstrate our framework, we generate optimal gait families for viscous and perfect-fluid three-link swimmers. This work lays a foundation for integrating low-level joint controllers with higher-level motion planners in complex locomotion systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Motion planning

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Multi-Agent Distributed DQN and Transfer Learning for Energy-Efficient Power Management in Solar Energy-Harvested Small-Cell Networks

引用

IEEE Internet of Things Journal 2025年

作者： Cho, Hyebin Kim, Hyungsub Na, JeeHyeon Lim, Seung-Chan Lee, Howon Hankyong National University School of Electrical Electronic and Control Engineering Anseong17579 Korea Republic of Electronics and Telecommunications Research Institute Daejeon34141 Korea Republic of Hankyong National University School of ICT Robotics and Mechanical Engineering and IITC Anseong17579 Korea Republic of Ajou University Department of Electrical and Computer Engineering Suwon16499 Korea Republic of

The integration of solar energy harvesting into small-cell networks is a promising solution for achieving energy-efficient and sustainable wireless communications. However, the inherent variability and intermittency of solar energy, coupled with precise inter-cell interference management, significantly hinder efficient network operation. To resolve these challenges, we propose a multi-agent distributed deep Q-network (MA-DDQN) framework, where the distributed base stations learn the optimal transmit power control policies. To further enhance adaptability under varying solar conditions, we present a daily model transfer with a fine-tuning approach, enabling efficient deployment without extensive training overhead. Simulation results demonstrate that the proposed methods remarkably improve energy efficiency while maintaining robust adaptability under dynamic solar conditions, revealing their potential for sustainable small-cell network deployments. © 2014 IEEE.

关键词： Solar cell efficiency

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Safety-Ensured Control Framework for Robotic Endoscopic Task Automation

arXiv

引用

arXiv 2025年

作者： Kim, Yitaek Iturrate, Iñigo Sloth, Christoffer Kim, Hansoul SDU Robotics The Maersk Mc-Kinney Moller Institute University of Southern Denmark Odense Denmark Department of Mechanical Engineering Myongji University Gyeonggi-do Yongin-si Korea Republic of

There is growing interest in automating surgical tasks using robotic systems, such as endoscopy for treating gastrointestinal (GI) cancer. However, previous studies have primarily focused on detecting and analyzing objects or robots, with limited attention to ensuring safety, which is critical for clinical applications, where accidents can be caused by unsafe robot motions. In this study, we propose a new control framework that can formally ensure the safety of automating certain processes involved in endoscopic submucosal dissection (ESD), a representative endoscopic surgical method for the treatment of early GI cancer, by using an endoscopic robot. The proposed framework utilizes Control Barrier Functions (CBFs) to accurately identify the boundaries of individual tumors, even in close proximity within the GI tract, ensuring precise treatment and removal while preserving the surrounding normal tissue. Additionally, by adopting a model-free control scheme, safety assurance is made possible even in endoscopic robotic systems where dynamic modeling is challenging. We demonstrate the proposed framework in cases where the tumors to be removed are close to each other, showing that the safety constraints are enforced. We show that the model-free CBF-based controlled robot eliminates one tumor completely without damaging it, while not invading another nearby tumor. Copyright © 2025, The Authors. All rights reserved.

关键词： Endoscopy

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