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Hierarchical structures on platinum-iridium substrates enhancing conducting polymer adhesion

Bio-Design and Manufacturing 2024年第6期7卷 889-898页

作者： Linze Li Changqing Jiang Luming Li School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China National Engineering Research Center of Neuromodulation School of Aerospace EngineeringTsinghua UniversityBeijing 100084China IDG/McGovern Institute for Brain Research at Tsinghua University Beijing 100084China

Conducting polymers(CPs),including poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)(PEDOT:PSS),are promising coating materials for neural ***,the weak adhesion of CP coatings to substrates such as platinum-iridium is a significant challenge that limits their practical *** address this issue,we used femtosecond laser-prepared hierarchical structures on platinum-iridium(Pt-Ir)substrates to enhance the adhesion of PEDOT:PSS ***,we used cyclic voltammetry(CV)stress and accelerated aging tests to evaluate the stability of both drop cast and electrodeposited PEDOT:PSS coatings on Pt-Ir substrates,both with and without hierarchical *** results showed that after 2000 CV cycles or five weeks of aging at 60℃,the morphology and electrochemical properties of the coatings on the Pt-Ir substrates with hierarchical structures remained relatively *** contrast,we found that smooth Pt-Ir substrate surfaces caused delamination of the PEDOT:PSS coating and exhibited both decreased charge storage capacity and increased ***,enhancing the stability of PEDOT:PSS coatings used on common platinum-iridium neural electrodes offers great potential for improving their electrochemical performance and developing new functionalities.

关键词： Hierarchical structures Femtosecond laser Conducting polymers Neural electrodes Stability

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A Differential Privacy Federated Learning Scheme Based on Adaptive Gaussian Noise

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Computer Modeling in engineering & Sciences 2024年第2期138卷 1679-1694页

作者： Sanxiu Jiao Lecai Cai Xinjie Wang Kui Cheng Xiang Gao College of Automation and Information Engineering Sichuan University of Science and EngineeringYibin644000China Sanjiang Research Institute of Artificial Intelligence and Robotics Yibin UniversityYibin644000China College of Mechanical Engineering Sichuan University of Science and EngineeringYibin644000China

As a distributed machine learning method,federated learning(FL)has the advantage of naturally protecting data *** keeps data locally and trains local models through local data to protect the privacy of local *** federated learning method effectively solves the problem of artificial Smart data islands and privacy protection ***,existing research shows that attackersmay still steal user information by analyzing the parameters in the federated learning training process and the aggregation parameters on the server *** solve this problem,differential privacy(DP)techniques are widely used for privacy protection in federated ***,adding Gaussian noise perturbations to the data degrades the model learning *** address these issues,this paper proposes a differential privacy federated learning scheme based on adaptive Gaussian noise(DPFL-AGN).To protect the data privacy and security of the federated learning training process,adaptive Gaussian noise is specifically added in the training process to hide the real parameters uploaded by the *** addition,this paper proposes an adaptive noise reduction *** the convergence of the model,the Gaussian noise in the later stage of the federated learning training process is reduced *** paper conducts a series of simulation experiments on realMNIST and CIFAR-10 datasets,and the results show that the DPFL-AGN algorithmperforms better compared to the other algorithms.

关键词： Differential privacy federated learning deep learning data privacy

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A Survey on Collision Avoidance for Multi-robot Systems

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Journal of institute of Control, robotics and Systems 2024年第4期30卷 402-411页

作者： Park, Jungwon Oh, Dahyun Kim, H. Jin Department of Mechanical System Design Engineering Seoul National University of Science and Technology Korea Republic of Department of Aerospace Engineering and Automation and Systems Research Institute Seoul National University Korea Republic of

Multi-robot systems (MRS) enable cooperation between multiple robots to achieve common goals or tasks. These systems can enhance efficiency and productivity in various applications, such as transportation, manufacturing, and exploration. However, a critical issue in MRS operation is the possibility of collisions between robots or with static/dynamic obstacles. This survey presents the latest trends and advancements in collision avoidance approaches for multi-robot systems. We analyze centralized and distributed collision avoidance methods, examining the overall performance, applicable vehicle platforms, and the necessity for inter-robot communication. This survey also explores the applicability of reinforcement learning-based methods for collision avoidance in multi-agent systems. © ICROS 2024.

关键词： Multipurpose robots

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Dynamically updated digital twin for prognostics and health management:Application in permanent magnet synchronous motor

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Chinese Journal of Aeronautics 2024年第6期37卷 244-261页

作者： Haoyu GUO Shaoping WANG Jian SHI Tengfei MA Giorgio GUGLIERI Rujun JIA Fausto LIZZIO School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Tianmushan Laboratory Hangzhou 310023China Department of Mechanical and Aerospace Engineering Polytechnic University of TurinTurin 10129Italy Beihang Ningbo Research Institute Ningbo 315800China

Current research on Digital Twin(DT)based Prognostics and Health Management(PHM)focuses on establishment of DT through integration of real-time data from various sources to facilitate comprehensive product monitoring and health ***,there still exist gaps in the seamless integration of DT and PHM,as well as in the development of DT multi-field coupling modeling and its dynamic update *** the product experiences long-period degradation under load spectrum,it is challenging to describe the dynamic evolution of the health status and degradation progression *** addition,DT update algorithms are difficult to be integrated simultaneously by current *** paper proposes an innovative dual loop DT based PHM framework,in which the first loop establishes the basic dynamic DT with multi-filed coupling,and the second loop implements the PHM and the abnormal detection to provide the interaction between the dual loops through updating *** proposed method pays attention to the internal state changes with degradation and interactive mapping with dynamic parameter ***,the Independence Principle for the abnormal detection is proposed to refine the theory of *** at the first loop focus on accurate modeling of multi-field coupling,while the events at the second loop focus on real-time occurrence of anomalies and the product degradation *** interaction and collaboration between different loop models are also ***,the Permanent Magnet Synchronous Motor(PMSM)is used to verify the proposed *** results show that the modeling method proposed can accurately track the lifecycle performance changes of the entity and carry out remaining life prediction and health management effectively.

关键词： Digital Twin(DT) Dynamic Update Independence Principle Multi-field Coupling Permanent Magnet Synchronous Motor(PMSM) Prognostics and Health Management(PHM)

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Force perception -based active breath-following control of a puncture ablation surgery robot end effector

Force perception -based active breath-following control of a...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yong, Tao Han, Dongming Wang, Tianmiao Zhang, Yufan Duan, Lian Wang, Yiru Beihang University School of Mechanical Engineering & Automation Research Institute of Aero-Engine China School of Mechanical Engineering & Automation Beihang University Robotics Institute of School of Mechanical Engineering and Automation China Beihang University Research Institute of Aero-Engine China

ISBN: (纸本)9798350325706

During the process of remote microwave puncture ablation surgery in areas such as the liver and thoracic cavity, there are accompanying physiological movements due to the body's respiratory motion, as well as possible spasms and twitching of the body's muscles caused by factors like anesthesia and temperature. These physiological activities can easily lead to skin lacerations near the rigid percutaneous puncture ablation needle due to relative motion. To prevent this secondary harm to the surrounding skin caused by such movements, we designed a robot end-effector active respiration tracking method based on fuzzy variable admittance control of a robotic arm and sliding window half-wave analysis debounce algorithm. This method not only enables smooth zero-force tracking but also monitors real-time end-effector motion information to adjust the admittance parameters, thus avoiding the occurrence of potential oscillations. Finally, we conducted experiments by applying a random step-like oscillation to simulate spasms and twitching phenomena. The robot not only achieved zero-force tracking with forces less than 1.5N but also demonstrated excellent resistance to oscillations, showcasing remarkable flexibility and stability. © 2023 IEEE.

关键词： Breath Following Debounce Algorithm Muscle Cramps Variable Admittance Control

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Flow characteristics of integrated motor-pump assembly with phosphate ester medium for aerospace electro-hydrostatic actuators

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Chinese Journal of Aeronautics 2023年第9期36卷 392-407页

作者： Jiangao ZHAO Jian FU Yuchen LI Haitao QI Yan WANG Yongling FU The Laboratory of Aerospace Servo Actuation and Transmission Beijing 100191China Research Institute for Frontier Science Beihang UniversityBeijing 100191China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Motor-pump assembly is the core component of the aerospace Electro-hydrostatic Actuator(EHA).Thus,the design of the motor pump can be very challenging under conditions of high speed and wide pressure range,especially in particular working *** ultimate goal is to pursue better flow characteristics under a wide range of working *** this paper,we built a sub-model of the main friction interfaces and a model of single-shaft coaxial motor-pump assembly adopting the method of hierarchical *** experimental investigation of the output characteristics was mainly carried out in a phosphate ester medium ***,the flow characteristics were compared and analyzed with the simulation *** indicated that the flow characteristics of the motor-pump assembly could be accurately simulated by the model and quite severe in a low speed and high-pressure environment.

关键词： EHA Friction interfaces More electric aircraft Motor-pump Multidisciplinary modeling

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AllWeather-UsableWearable Dual Energy Harvester for Outdoor Sustainable Operation

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SusMat 2025年第1期5卷 159-170页

作者： Yeongju Jung Jiyong Ahn Ji-Seok Kim Junhyuk Bang Minwoo Kim Seongmin Jeong Jinwoo Lee Seonggeun Han Il-Kwon Oh Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National UniversitySeoulRepublic of Korea National Creative Research Initiative for Functionally Antagonistic Nano-Engineering Department of Mechanical EngineeringSchool of Mechanical and Aerospace EngineeringKorea Advanced Institute of Science and Technology(KAIST)DaejeonRepublic of Korea Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoulRepublic of Korea Device Solutions Research Samsung ElectronicsHwaseong-siRepublic of Korea Institute of Engineering Research/Institute of Advanced Machinery and Design(SNU-IAMD) Seoul National UniversitySeoulRepublic of Korea Interdisciplinary Program in Bioengineering Seoul National UniversitySeoulRepublic of Korea

Sustainable power sources for outdoor wearable electronics are essential for the continuous operation of wearable ***,the current lack of engineering design that can harvest energy regardless of weather conditions presents a significant *** this regard,this study introduces a wearable,breathable all-weather usable dual energy harvester(AWuDEH)that can seamlessly generate electrical energy regardless of weather *** this study,the AWuDEH integrated with the thermoelectric generator and the droplet-based electricity generator is *** AWuDEH,especially engineered with a bi-functional top substrate for radiative cooling and electrification,achieves sustainable energy harvesting outdoors,thereby addressing the conventional challenge associated with the necessity for separate energy harvesters tailored to outdoor usage contingent on weather *** device reaches a maximum power output of 14.6μW cm^(-2)under simulated sunny conditions and generates a much more enhanced thermoelectric power of 74.78μW cm^(-2)and a droplet-based electric power of 256.25 mW m^(-2)in rainy *** proof,this study developed self-powered wearable electronics capable of acquiring physiological signals in simulated outdoor *** study presents a promising advancement in wearable technology,offering a potent solution for sustainable energy harvesting independent of weather conditions.

关键词： all-weather usable droplet-based electricity generator hybrid architecture outdoor sustainable operation thermoelectric generator

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Skin-inspired interface modification strategy toward a structurefunction integrated hybrid smart fabric system with self-powered sensing property for versatile applications

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Nano research 2024年第9期17卷 8200-8208页

作者： Xiang Cheng Teng Chen De Gong Pengcheng Ma Bo Chen Jun Cai Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100190China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Beijing U-Precision Tech Co. Ltd.Beijing 100176China University of Chinese Academy of Sciences Beijing 100049China

Fabric-based composites with superior mechanical properties and excellent perceptive function are highly ***,it remains a huge challenge to attain structure-function integration,especially for hybrid fabric ***,a skin-inspired interface modification strategy is proposed toward this target by constructing a hybrid smart fabric system consisting of two types of smart fabrics:carbon nanotube(CNT)/MXene-modified aramid fabrics and zinc oxide nanorod(ZnO NR)-modified carbon *** on that,flexible piezoelectric pressure sensors with skin-like hierarchical perception interfaces are fabricated,which demonstrate superb sensitivity of 2.39 V·kPa^(-1)and are capable of various wearable monitoring ***,the interface-modified hybrid fabric reinforced plastics can also be fabricated,which are proven to possess 13.6%higher tensile strength,10.1%elastic *** impressively,their average energy absorption can be improved by 111.9%,accompanied with inherent damage alert *** offers a paradigm to fabricate structure-function integrated hybrid smart fabric composites for the smart clothing and intelligent aerial vehicles.

关键词： hybrid fabrics interface modification piezoelectric pressure sensors self-diagnostic composites structure-function integration

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Aerial refueling scheduling of multi-receiver and multi-tanker under spatial-temporal constraints for forest firefighting

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Chinese Journal of Aeronautics 2024年第5期37卷 71-91,I0001页

作者： Jing HUANG Jiaqi XING Jinrui REN Quan QUAN Youmin ZHANG Department of Information and Control Engineering Xi’an University of TechnologyXi’an 710048China Jiujiang Measuring Test Technology Research Institute Jiujiang 332000China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Automation Xi’an University of Posts&TelecommunicationsShaanxiXi’an 710121China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal H3G 1M8Canada

Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest *** the constrained load capacities of these aircraft,aerial refueling becomes crucial to extend their operational time and *** order to address the complexities of firefighting missions involving multi-receiver and multi-tanker deployed from various airports,first,a fuel consumption calculation model for aerial refueling scheduling is established based on the receiver ***,two distinct methods,including an integrated one and a decomposed one,are designed to address the challenges of establishing refueling airspace and allocating tasks for *** methods aim to optimize total fuel consumption of the receivers and tankers within the aerial refueling scheduling *** optimization problem is established as nonlinear optimization models along with *** integrated method seamlessly combines refueling rendezvous point scheduling and tanker task allocation into unified *** has a complete solution space and excels in optimizing total fuel *** decomposed method,through the separation of rendezvous point scheduling and task allocation,achieves a reduced computational ***,this comes at the cost of sacrificing optimality by excluding specific feasible ***,numerical simulations are carried out to verify the feasibility and effectiveness of the proposed *** simulations yield insights crucial for the practical engineering application of both the integrated and decomposed methods in real-world *** comprehensive approach aims to enhance the efficiency of forest firefighting operations,mitigating the risks posed by forest fires to human life and property.

关键词： Aerial refueling Scheduling Planning Spatial-temporal constraint Firefighting

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Ground Contact Parameter Estimation Guided Gait Planning for Hexapod Robots

Ground Contact Parameter Estimation Guided Gait Planning for...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Dong, Guiyu Qin, Ripeng Han, Liangliang Chen, Jiawei Xu, Kun Ding, Xilun Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China Institute of Aerospace System Engineering Shanghai Shanghai201108 China

ISBN: (纸本)9781665481090

Environment sensing for legged robots can improve their mobility performance. A foot-ground contact model can be used to evaluate the properties of the robot's contact with the environment. A contact parameter estimator based on artificial neural networks was developed to guide the gait planning of a hexapod robot so that it can achieve higher mobility efficiency. This contact parameter estimator can use acceleration, velocity, and contact force data as inputs and output contact parameters. The estimator avoided using deformations as input which are difficult to measure. Meanwhile, the robot's cost of transport with different contact parameters is tested and recorded. Accordingly, the hexapod robot was guided to choose a better gait shape between cycloid and rectangular. The simulation proved that changes in the gait shape according to the contact parameters can reduce the hexapod's cost of transport. © 2022 IEEE.

关键词： Parameter estimation

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