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Mechanical Analysis and Performance Optimization for the Lunar Rover’s Vane-Telescopic Walking Wheel

Engineering 2020年第8期6卷 936-943页

作者： Lu Yang Bowen Cai Ronghui Zhang Kening Li Zixian Zhang Jiehao Lei Baichao Chen Rongben Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China Guangdong Key Laboratory of Intelligent Transportation System School of Intelligent Systems EngineeringSun Yat-sen UniversityGuangzhou 510275China College of Transportation Jilin UniversityChangchun 130025China Department of Mechanical Science and Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Armour College of Engineering Illinois Institute of TechnologyChicagoIL 60616USA China Academy of Space Technology Beijing 100029China

It is well-known that optimizing the wheel system of lunar rovers is ***,this is a difficult task due to the complex terrain of the moon and limited resources onboard lunar *** this study,an experimental prototype was set up to analyze the existing mechanical design of a lunar rover and improve its ***,a new vane-telescopic walking wheel was proposed for the lunar rover with a positive and negative quadrangle suspension,considering the complex terrain of the ***,the performance was optimized under the limitations of preserving the slope passage and minimizing power *** was achieved via analysis of the wheel force during ***,the effectiveness of the proposed method was demonstrated by several simulation *** newly designed wheel can protrude on demand and reduce energy consumption;it can be used as a reference for lunar rover development engineering in china.

关键词： Intelligent vehicle Vane-telescopic walking wheel Performance optimization Vane spring Lunar rover

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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I3−/I−Redox Reaction-mediated Organic Zinc-Air Batteries with Accelerated Kinetics and Long Shelf Lives

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Angewandte Chemie 2023年第26期135卷

作者： Mangwei Cui Ninggui Ma Hao Lei Youfa Liu Wei Ling Sheng Chen Jiaqi Wang Prof. Hongfei Li Zhaohui Li Prof. Jun Fan Prof. Yan Huang State Key Laboratory of Advanced Welding and Joining Sauvage Laboratory for Smart Materials Shenzhen Key Laboratory of Flexible Printed Electronics Technology School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China Department of Materials Science and Engineering City University of Hong Kong 83 Tat Chee Avenue Kowloon Hong Kong 999077 China Key Laboratory of Radiation Physics and Technology of Ministry of Education Institute of Nuclear Science and Technology Sichuan University Chengdu 610064 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen 518055 China Songshan Lake Materials Laboratory Dongguan 523808 China Shenzhen China Star Optoelectronic Semiconductor Display Technology Co. Ltd. Shenzhen 518055 China

The storage time of Zn-air batteries (ZABs) for practical implementation have been neglected long-lastingly. ZABs based on organic solvents promise long shelf lives but suffer from sluggish kinetics. Here, we report a longly storable ZAB with accelerated kinetics mediated by I 3 − /I − redox. In the charge process, the electrooxidation of Zn 5 (OH) 8 Cl 2 ⋅H 2 O is accelerated by I 3 − chemical oxidation. In the discharge process, I − adsorbed on the electrocatalyst changes the energy level of oxygen reduction reaction (ORR). Benefitting from these advantages, the prepared ZAB shows remarkably improved round-trip efficiency (56.03 % vs. 30.97 % without the mediator), and long-term cycling time (>2600 h) in ambient air without replacing any components or applying any protective treatment to Zn anode and electrocatalyst. After resting for 30 days without any protection, it can still directly discharge continuously for 32.5 h and charge/discharge very stably for 2200 h (440 cycles), which is evidently superior to aqueous ZABs (only 0/0.25 h, and 50/25 h (10/5 cycles) by mild/alkaline electrolyte replenishment). This study provides a strategy to solve both storage and sluggish kinetics issues that have been plaguing ZABs for centuries, opening up a new avenue to the industrial application of ZABs.

关键词： Iodine-Containing Reaction Kinetics Redox Mediators Storage Time Zn-Air Batteries

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Multi-Scale Fusion Algorithm for AUVs Integrated Navigation systems

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Journal of Beijing Institute of technology 2019年第4期28卷 725-730页

作者： Yushan Sun Fanyu Wu Yuqi Wang Guocheng Zhang Bin Kong Science and Technology on Underwater Vehicle Laboratory Harbin Engineering UniversityHarbin 150001China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong UniversityShanghai 200030China Wuhan Second Ship Design and Research Institute Wuhan 430205China

To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on ***,integrated navigation system theory and system error sources are introduced in ***,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising *** last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman *** results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.

关键词： autonomous underwater vehicles(AUVs) integrated navigation system wavelet transform multi-scale transform Kalman filter

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Unleashing the phonon-mediated intrinsic carrier transport and optical properties of uranium dinitride (UN2)

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Journal of Nuclear Materials 2025年 613卷

作者： Iqbal, Safdar Duan, Xinlei Fan, Hang Zhang, Kun Liu, Linhua Yang, Jia-Yue School of Nuclear Science Energy and Power Engineering Shandong University Shandong Jinan250061 China Optics & Thermal Radiation Research Center Institute of Frontier and Interdisciplinary Shandong University Shandong Qingdao266237 China National Key Laboratory of Nuclear Reactor Technology Nuclear Power Institute of China Chengdu610213 China

Uranium dinitride (UN2) demonstrates promising potential in nuclear reactors as a fuel due to its outstanding stability and thermal conductivity at high temperatures. It's difficult to directly measure the carrier transport and optical properties under extremely high temperatures, which is crucial for the fuel design. The investigation seeks to enhance knowledge of UN₂, focusing on its electronic configuration, charge carrier mobility, and optical properties using the Boltzmann transport equation and Bethe-Salpeter equation frameworks from first-principles. Analysis of the electronic band structure reveals an indirect bandgap of 0.8 eV, and the carrier's (electron and hole) mobility of 10 cm2/Vs and 15.5 cm2/Vs, respectively, at 300 K is predicted. The carrier mobility decreases rapidly with rising temperatures (100 to 1200 K) due to intensified electron-phonon and neutron-phonon interactions. The study further uncovers strong optical absorption of 7.1 × 105 cm-1 in the near-infrared and visible spectra, with a prominent peak around 1.5 eV. Dielectric function analysis corroborates these observations, with the real and imaginary components demonstrating significant light interactions, especially at low photon energies where excitonic effects are dominant. © 2025 Elsevier B.V.

关键词： Hole mobility

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Data-Driven design Space Exploration and Exploitation for design for Additive Manufacturing (vol 141, 101101, 2019)

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JOURNAL OF MECHANICAL design 2019年第11期141卷 101101页

作者： Xiong, Yi Pham Luu Trung Duong Wang, Dong Park, Sang-In Ge, Qi Raghavan, Nagarajan Rosen, David W. Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore 487372 Singapore Robotics Institute School of Mechanical EngineeringState Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai 200241 China Department of Mechanical Engineering and Robotics Incheon National UniversityIncheon 22012 South Korea Science and Math Cluster and Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore 487372 Singapore Engineering Product Development Pillar and Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore 487372 Singapore

Recently, design for additive manufacturing has been proposed to maximize product performance through the rational and integrated design of the product, its materials, and their manufacturing processes. Searching design solutions in such a multidimensional design space is a challenging task. Notably, no existing design support method is both rapid and tailored to the design process. In this study, we propose a holistic approach that applies data-driven methods in design search and optimization at successive stages of a design process. More specifically, a two-step surrogate model-based design method is proposed for the embodiment and detailed design stages. The Bayesian network classifier is used as the reasoning framework to explore the design space in the embodiment design stage, while the Gaussian process regression model is used as the evaluation function for an optimization method to exploit the design space in detailed design. These models are constructed based on one dataset that is created by the Latin hypercube sampling method and then refined by the Markov Chain Monte Carlo sampling method. This cost-effective data-driven approach is demonstrated in the design of a customized ankle brace that has a tunable mechanical performance by using a highly stretchable design concept with tailored stiffnesses.

关键词： design

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Growth modes of quasicrystals involving intermediate phases and a multistep behavior studied by phase field crystal model

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Physical Review Materials 2020年第2期4卷 023403-023403页

作者： Zhencheng Jiang Silong Quan Ning Xu Linghui He Yong Ni CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern Mechanics University of Science and Technology of China Hefei 230026 People's Republic of China School of Mechanical and Electronic Engineering East China University of Technology Nanchang 330013 People's Republic of China Hefei National Laboratory for Physical Sciences at the Microscale CAS Key Laboratory of Microscale Magnetic Resonance and Department of Physics University of Science and Technology of China Hefei 230026 People's Republic of China CAS Center for Excellence in Complex System Mechanics

Understanding the microscopic kinetics of quasicrystal formation via nucleation and growth is crucial. Here, we report unusual pathways to nucleation and growth of dodecagonal quasicrystals via a phase field crystal model incorporating a two-length-scale potential. Under certain thermodynamic parameters, both quasicrystal growths via heterogeneous and homogeneous nucleation may be associated with a multistep behavior and the transient appearance of triangular and intermediate phases, different from classical nucleation pathways. The metastable intermediate phase spontaneously occurs to bridge the triangular phase and quasicrystal nuclei of different orientations to reduce the total free energy of the system. Decomposition of an undercooled fluid phase into quasicrystal phase shows a multistep pathway wherein the triangular phase and the intermediate phase may occur faster than the quasicrystal phase, when the growth rate of one length-scale ordering is significantly different from the other and the subsequent competing and coupling of both length scales are involved. The calculated structure factor, radial distribution function, and the aperiodic tiling structure of the intermediate phase explain why it appears during the quasicrystal formation.

关键词： Growth processes Phase transitions Quasicrystals Phase-field modeling

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Stress release strategy driven by multi-interface structure and dual-ion insertion toward stable hybrid batteries

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Nano Energy 2025年 142卷

作者： Si, Wenhui Tian, Miao Wang, Zhitao Ma, Heping Du, Yibo Wang, Wenlong Zhang, Longshuai Zhang, Wenming Yang, Hui Ying Chen, Song Hebei Key Laboratory of Optic-Electronic Information and Materials National & Local Joint Engineering Laboratory of New Energy Photoelectric Devices College of Physics Science and Technology Hebei University Baoding 071002 China Hebei Key Laboratory of Optic-electronic Information and Materials College of Physics Science and Technology Hebei University Baoding 071002 China Henan Engineering Research Center of Design and Recycle for Advanced Electrochemical Energy Storage Material School of Materials Science and Engineering Henan Normal University Xinxiang 453007 China Key Laboratory of Jiangxi Province for Persistent Pollutants Prevention Control and Resource Reuse Nanchang Hangkong University Nanchang 330063 China Pillar of Engineering Product Development Singapore University of Technology and Design 8 Somapah Road 487372 Singapore

Transition metal chalcogenides exhibit broad application prospects in the energy sector depending on their high energy density and cycling stability. However, the issue of internal stress regulation within them is seriously neglected. Herein, we explore a novel cathode material for the first time and innovatively propose a stress release strategy driven by a multiple interface structure and dual-ion insertion to achieve superior energy storage behavior. We have designed a system with multi-interfaces Cu4SnS4 cathode and APC-LiCl electrolyte to validate the rationality of our thought. Finite element simulations directionally demonstrate that dual-ion insertion and the multi-interface structure possess the capability to alleviate stress in many directions and exhibit exceptional wettability, thereby maintaining structural integrity from a mechanical perspective and significantly enhancing ion diffusion capabilities. Ex-situ characterizations and theoretical calculations comprehensively analyze the reaction mechanisms during magnesiation/lithiation processes, confirming the necessity of regulating internal stress and reaction kinetics. The proposed stress relief strategy not only provides inspiration for developing cathode materials with superior performance and durability but also opens a new path for driving technological innovation and industrial upgrading in the energy fields.

关键词： Cathode Dual-ion insertion Hybrid batteries Multiple interface Stress release

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Wave Interaction with a Concentric Bottom-Mounted Cylinder system with Dual Porous Ring Plates

SSRN

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SSRN 2022年

作者： Zhang, MoHan Wang, GuangYuan Wang, Jin Zhao, PengYuan Key Laboratory for Mechanics in Fluid Solid Coupling Systems Institute of Mechanics Chinese Academy of Sciences Beijing100190 China National Engineering Research Center of Port Hydraulic Construction Technology Tianjin Research Institute for Water Transport Engineering M.O.T. Tianjin300000 China School of Engineering Science University of Chinese Academy of Sciences Beijing100049 China China Ship Development and Design Center Wuhan430000 China

The interaction between linear surface waves and a concentric bottom-mounted cylinder system has been investigated using the eigenfunction expansion approach. This system contains an outer porous cylinder and an inner impermeable cylinder, which are connected by dual porous ring plates. Both cylinders are surface-piercing and rigidly installed on the flat bottom of the ocean, while the porous ring plates are fixed below the free water surface. Analytical solutions were obtained using matching boundary conditions. According to the velocity potential, the hydrodynamic forces of the system and the free surface elevation are calculated. The numerical results obtained for limiting cases agreed well with the published results. The results of the study show that reducing the draft, spacing, and permeability of the dual plates all contribute to reduce the surge force of the inner cylinder. However, the significance of the lower plate is mainly to cope with the condition where the water surface is lower than the upper plate. © 2022, The Authors. All rights reserved.

关键词： Surface waves

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BeLDPC: Bit Errors Aware Adaptive Rate LDPC Codes for 3D TLC NAND Flash Memory

BeLDPC: Bit Errors Aware Adaptive Rate LDPC Codes for 3D TLC...

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design, Automation and Test in Europe Conference and Exhibition

作者： Meng Zhang Fei Wu Qin Yu Weihua Liu Lanlan Cui Yahui Zhao Changsheng Xie Wuhan National Laboratory for Optoelectronics Key Laboratory of Information Storage System Engineering Research Center of data storage systems and Technology Ministry of Education of China School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9783981926347

ISBN: (纸本)9781728144689

Three-dimensional (3D) NAND flash memory has high capacity and cell storage density by using the multi-bit technology and vertical stack architecture, but degrading data reliability due to high raw bit error rates (RBER) caused by program/erase (P/E) cycles and retention periods. Low-density parity-check (LDPC) codes become more popular error-correcting technologies to improve data reliability due to strong error correction capability, but introducing more decoding iterations at higher RBER. To reduce decoding iterations, this paper proposes BeLDPC: bit errors aware adaptive rate LDPC codes for 3D triple-level cell (TLC) NAND flash memory. Firstly, bit error characteristics in 3D charge trap TLC NAND flash memory are studied on a real FPGA testing platform, including asymmetric bit flipping and temporal locality of bit errors. Then, based on these characteristics, a high-efficiency LDPC code is designed. Experimental results show BeLDPC can reduce decoding iterations under different P/E cycles and retention periods.

关键词： Iterative decoding Three-dimensional displays Error analysis Reliability Encoding Computer architecture

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