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Low-Voltage Graphene Interface-Engineered Organic Ferroelectric Tunnel Junction Devices

ACS Applied Materials and Interfaces 2025年第22期17卷 32773-32781页

作者： Natani, Shreyam Khajanji, Pranjali Cheng, Li Eshraghi, Kassra Zhang, Zichen Shipley, Wade Tao, Andrea R. Bandaru, Prabhakar R. Department of Mechanical Engineering University of California La Jolla San Diego 92093 CA United States Program in Materials Science University of California La Jolla San Diego 92093 CA United States

It has been indicated that the path forward for the widespread usage of ferroelectric (FE) materials may be considerably facilitated through the reduction of programming voltages to on-chip logic-compatible values of <1 V. Obstacles involve issues related to the scaling of the FEs to lower thickness as well as the presence of an interfacial layer (IL) between the high-permittivity FE and the substrate- resulting in wasted voltage across the IL. Here, we show how lower operating voltages along with a higher tunneling electroresistance (TER) could be achieved through IL engineering. We use piezoresponse force microscopy and fabricated ferroelectric tunnel junctions (FTJs) to show that ultrathin FE films deposited on single-layer graphene/Si can exhibit polarization switching at reduced voltages ∼0.8 V with significant TER as compared to directly depositing on Si. © 2025 American Chemical Society.

关键词： 2D materials ferroelectric tunnel junction (FTJ) interface engineering low voltage memory window PVDF-TrFE

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A Systematic Evaluation of Clustering Algorithms Against Expert-Derived Clustering

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Operations Research Forum 2025年第2期6卷 1-24页

作者： Mikrou, Ioannis Sapidis, Nickolas S. Department of Mechanical Engineering University of Western Macedonia ZEP Kozani 50100 Greece Postgraduate Masters Program “Quality Management and Technology” Hellenic Open University Par. Aristotelous 18 Patras 26335 Greece

Clustering algorithms have long sought to replicate human expertise in data clustering. This research utilizes six mechatronic products and a team of domain experts to assess how closely the results of six clustering algorithms align with expert-generated outcomes. This comparison of clustering results includes validation indices, the analysis of component migrations between the generated clusters, and optical inspection. The mechatronic products were selected for their complex nature, which provides a challenging context for the clustering analysis. The algorithms used in this research are Ward’s method (WARD), partitioning around medoids (PAM), K-means (K-MEANS), divisive analysis (DIANA), density-based spatial clustering of applications with noise (DBSCAN), and clustering by fast search and find of density peaks (DPC), and the validation indices employed to evaluate the clustering results are the silhouette coefficient (SC) and the composed density between and within clusters (CDbw). © The Author(s) 2025.

关键词： Clustering performance DSM models Human expert benchmarks Machine learning Mechatronics

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Novel Magnetic Actuation Strategies for Precise Ferrofluid Marble Manipulation in Magnetic Digital Microfluidics: Position Control and Applications

arXiv

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arXiv 2024年

作者： Sarkhosh, Mohammad Hossein Dabirzadeh, Mohammad Hassan Bijarchi, Mohamad Ali Pishkenari, Hossein Nejat Micro/Nano Robotics Laboratory Department of Mechanical Engineering Sharif University of Technology Tehran Iran Department of Mechanical Engineering Sharif University of Technology Tehran Iran

Precise manipulation of liquid marbles has significant potential in various applications such as lab-on-a-chip systems, drug delivery, and biotechnology and has been a challenge for researchers. Ferrofluid marble (FM) is a marble with a ferrofluid core that can easily be manipulated by a magnetic field. Although FMs have great potential for accurate positioning and manipulation, these marbles have not been precisely controlled in magnetic digital microfluidics, so far. In this study for the first time, a novel method of magnetic actuation is proposed using a pair of Helmholtz coils and permanent magnets. The governing equations for controlling the FM position are investigated, and it is shown that there are three different strategies for adjusting the applied magnetic force. Then, experiments are conducted to demonstrate the capability of the proposed method. To this aim, different magnetic setups are proposed for manipulating FMs. These setups are compared in terms of energy consumption and tracking ability across various frequencies. The study showcases several applications of precise FM position control, including controllable reciprocal positioning, simultaneous position control of two FMs, the transport of non-magnetic liquid marbles using the FMs, and sample extraction method from the liquid core of the FM. © 2024, CC BY-NC-ND.

关键词： Permanent magnets

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Recent advances towards soft household robots

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JMST Advances 2024年第4期6卷 387-393页

作者： Jamil, Babar Wang, Wei Dawid Rodrigue, Hugo School of Physics Engineering and Technology University of York York UK Department of Mechanical Engineering Hanyang University Seoul Republic of Korea School of Mechanical Engineering Sungkyunkwan University Suwon Republic of Korea Department of Intelligent Robotics Sungkyunkwan University Suwon Republic of Korea

Over recent decades, robots have become pervasive in various industries, yet their presence in households remains limited despite the potential benefits they could offer. Household robots could revolutionize domestic tasks such as cleaning, cooking, and assisting individuals with disabilities by performing routine activities and enhancing safety. However, several challenges impede their widespread adoption, including the diversity of household objects, the need for varied skills and high dexterity, and, crucially, ensuring human safety. Soft robots, composed of deformable materials, present a promising solution due to their inherent compliance, which enhances safety and adaptability to dynamic environments, including human interaction. This review paper surveys four types of soft robotic technology for household use: soft robots that are intended for household use, wearable technology for people with physical handicaps, soft robotic arms that can be used to perform household tasks, and soft robotic grippers. We assess the advantages of these technologies, discuss their operational requirements, and identify the technical limitations that need to be addressed for broader consumer adoption. This review highlights the path forward for integrating soft robots into households, emphasizing the need for continued innovation to enhance their performance, controllability, and range of capabilities.

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Development and Experimental Evaluation of an Endoscopic Capsule Robot Equipped With a Fail-safe Biopsy Mechanism

Development and Experimental Evaluation of an Endoscopic Cap...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： M. R. Zarifi Khameneh Z. Tolouei M. Yousefi H. Nejat Pishkenari A. Alasty Department of Mechanical Engineering Micro/Nano Robotics Laboratory Sharif University of Technology Tehran Iran Department of Mechanical Engineering Sharif University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Endoscopic capsule robots (ECRs) have introduced feasible and painless gastrointestinal diagnostics to endoscopic procedures. To further enhance the capability of these revolutionary devices, many research groups have attempted to equip ECRs with functions such as active locomotion, drug delivery, and biopsy. This study addresses the challenges related to the biopsy functionality of ECRs by introducing a remote biopsy mechanism adapted from the magnetic spring concept. The mechanism consists of one axial permanent magnet (PM) fixed inside the ECR's body, a radial PM free to translate along the device length and rotate perpendicular to its magnetization direction, and conventional biopsy forceps. The presented ECR can locomote directly using external gradient magnetic fields or through rotation via external uniform magnetic fields. Additionally, the proposed biopsy mechanism ensures reliable actuation and a fail-safe design. To evaluate the performance of this design, a prototype with a diameter of 12 mm and a length of 30 mm was fabricated, and its functionality in active rotational locomotion, orientation control, and biopsy actuation was demonstrated through experiments.

关键词： Performance evaluation Mechatronics Biopsy Prototypes Position control Reliability engineering Permanent magnets Magnetic fields Springs Robots

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Fluorine-Free Cosolvent Chemistry Empowering Sodium-Sulfurized Polyacrylonitrile Batteries

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Advanced Energy Materials 2025年第0期

作者： Pai, Min-Hao Manthiram, Arumugam Materials Science and Engineering Program & Walker Department of Mechanical Engineering The University of Texas at Austin AustinTX78712 United States

Localized high-concentration electrolytes (LHCE) show great promise for room-temperature sodium-sulfur batteries. However, the majority of diluents in LHCE systems consist of fluorinated ethers, which are not only dense and expensive but also demonstrate poor reductive stability with sodium metal. Herein, a low-density, non-fluorinated ether electrolyte is presented that demonstrates localized high-concentration behavior. This feature is driven by the weak solvating capabilities of 1,2-dimethoxypropane (DMP) and the ultra-weak solvating nature of cyclopentyl methyl ether (CPME). Impressively, the fluorine-free CPME cosolvent acts as a diluent within the electrolyte. Therefore, the electrolyte achieves a tailored solvation structure characterized by anion-rich species, which fosters the development of a resilient inorganic-rich SEI with superior Na-ion transport. Consequently, with a high sulfur-content sulfurized polyacrylonitrile (SPAN, S content > 45% in SPAN) loading of 4.4 mg cm⁻2 (sulfur loading: 2 mg cm⁻2) and a low electrolyte-to-SPAN ratio of 9 µL mg⁻¹ (E/SPAN = 9), the Na-SPAN cell demonstrates remarkable reversibility of 530 mA h gsulfur⁻¹ after 200 cycles at C/5 rate. This performance surpasses the majority of state-of-the-art Na-SPAN ether-based electrolyte systems reported to date. Hence, this work presents a novel approach for designing cost-effective, high-performance electrolytes for stable, practical Na-SPAN batteries. © 2025 Wiley-VCH GmbH.

关键词： Sodium-ion batteries

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Corrosion kinetics of pure metals (Fe, Cr, Ni) and alloys (A709, SS316) in thermal and chemical purified molten chloride salt

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RSC advances 2025年第24期15卷 19013-19022页

作者： Mingyang Zhang Amanda Leong Siheng Ren Jinsuo Zhang Nuclear Engineering Program Department of Mechanical Engineering Virginia Tech Blacksburg VA 24061 USA zjinsuo5@vt.edu.

There has been notable research interest in utilizing chloride molten salt as both a heat transfer and thermal energy storage medium in nuclear and solar energy systems. However, a significant concern remains regarding the compatibility of structural materials with chloride molten salt. In this study, electrochemical methods were applied to investigate the corrosion kinetics and mechanisms of pure Ni, Fe, Cr, SS316, and A709 in thermally and chemically purified molten MgCl-KCl-NaCl salt to explore the underlying corrosion mechanisms. It was found that the corrosion of metals and alloys in the salt was governed by the diffusion of corrosive impurities at temperatures of 600, 650, and 700 °C. The corrosion rates of each metal/alloy were determined using Tafel analysis under impurity diffusion-controlled conditions. The results showed that the corrosion resistance hierarchy for pure metals was Ni > Fe > Cr, while for alloys, SS316 demonstrated superior corrosion resistance compared to A709 within the tested temperature range and conditions.

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YORI: Autonomous Cooking System Utilizing a Modular Robotic Kitchen and a Dual-Arm Proprioceptive Manipulator

arXiv

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arXiv 2024年

作者： Noh, Donghun Nam, Hyunwoo Gillespie, Kyle Liu, Yeting Hong, Dennis Robotics and Mechanisms Laboratory The Department of Mechanical and Aerospace Engineering University of California Los AngelesCA90095 United States Robotics and Mechanisms Laboratory The Department of Mechanical and Aerospace Engineering University of California Los AngelesCA90095 United States Robotics and Mechanisms Laboratory The Department of Mechanical and Aerospace Engineering University of California Los AngelesCA90095 United States Robotics and Mechanisms Laboratory The Department of Mechanical and Aerospace Engineering University of California Los AngelesCA90095 United States Robotics and Mechanisms Laboratory The Department of Mechanical and Aerospace Engineering University of California Los AngelesCA90095 United States

This article introduces the development and implementation of the Yummy Operations Robot Initiative (YORI), an innovative, autonomous robotic cooking system. YORI marks a major advancement in culinary automation, adept at handling a diverse range of cooking tasks, capable of preparing multiple dishes simultaneously, and offering the flexibility to adapt to an extensive array of culinary activities. This versatility is achieved through the use of custom tools and appliances operated by a dual-arm manipulator utilizing proprioceptive actuators. The use of proprioceptive actuators enables fast yet precise movements, while allowing for accurate force control and effectively mitigating the inevitable impacts encountered in cooking. These factors underscore this technology’s boundless potential. A key to YORI’s adaptability is its modular kitchen design, which allows for easy adaptations to accommodate an ever-growing range of culinary tasks. This article provides an in-depth look at YORI’s design process, its technological innovations, operational capabilities, and highlights its role in revolutionizing the culinary world by enhancing efficiency, consistency, and versatility in food preparation. © 2024, CC BY.

关键词： Manipulators

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and Automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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Verifying the Independence of Anterior and Mediolateral Margin of Gait Stability Indices 11

Verifying the Independence of Anterior and Mediolateral Marg...

引用

11th IEEE Global Conference on Consumer Electronics, GCCE 2022

作者： Kuroda, Tomohito Okamoto, Shogo Akiyama, Yasuhiro Tokyo Metropolitan University Department of Computer Science Hino Japan Shinshu University Department of Mechanical Engineering and Robotics Ueda Japan

ISBN: (纸本)9781665492324

Gait stability indices are used for the quantitative assessment of individual fall risk. The margin of stability (MoS) is a popular gait stability index. This index computes the fall risks in the anterior and mediolateral directions;however, the relationships between the anterior and mediolateral MoSs have not been studied. We analyzed the MoS values in these two directions and several gait parameters using canonical correlation analysis, and obtained the linear relationships between these two groups. The gait kinematic data of 300 strides of 60 elderlies from an open database were used for this analysis. Our analysis verified that the MoS values in the anterior and mediolateral directions exhibited a weak relationship. The anterior posture became stable as the anterior gait speed decreased or the cadence increased. Furthermore, gait motions with greater step widths exhibited higher mediolateral MoS values, indicating greater stability. These findings indicate that the anterior and mediolateral postural stabilities are independently related to different gait parameters, which can aid in understanding stable walking strategies. © 2022 IEEE.

关键词： Correlation methods

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