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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Au-MPN@Ag Nanocomposite-Assisted Mass Spectrometry for Metabolite Detection

Au-MPN@Ag Nanocomposite-Assisted Mass Spectrometry for Metab...

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2024 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2024

作者： Sang, Qi Li, Yanyan Liu, Wanshan Wang, Yuning Qian, Kun Shanghai Jiao Tong University State Key Labtoratory of Systems Medicine for Cancer School of Biomedical Engineering Institute of Medical Robotics and Shanghai Academy of Experiment Medicine Shanghai China

ISBN: (纸本)9798350362107

Sensitive detection of metabolites in biofluids plays an important role in disease diagnosis. Herein, we synthesized a novel noble metal based nanocomposite using metal-polyphenol network (MPN) as coordination and redox reaction. The formed Au-MPN@Ag nanocomposite exhibited excellent metabolite detection performance in laser desorption ionization mass spectrometry (LDI-MS). Notably, Au-MPN@Ag nanocomposite based LDI-MS platform achieved direct detection of metabolites in biofluids without any sample pretreatment. Our work provides a new advanced platform for metabolic analysis towards in vitro diagnostics. © 2024 IEEE.

关键词： Redox reactions

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engineering of Fe d-band center in Fe_(3)O_(4)/CeO_(2)hetero-nanoparticles via orbital coupling for high-efficiency oxygen reduction electrocatalysis

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Nano Research 2025年第1期18卷 129-139页

作者： Jiayi Liu Jingwen Yin Yingzi Lin Mingxin Pang Huan Pang Songtao Zhang Lin Xu Jun Yang Yawen Tang Jiangsu Key Laboratory of New Power Batteries Jiangsu Collaborative Innovation Center of Biomedical Functional MaterialsSchool of Chemistry and Materials ScienceNanjing Normal UniversityNanjing 210023Chin a 2 State Key Laboratory of Multiphase Complex Systems Center of MesoscienceInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225009China Testing Center Yangzhou UniversityYangzhou 225009China

The deliberate engineering of the d-band center of metal site represents an effective strategy to boost the intrinsic electrocatalytic performance toward the oxygen reduction reaction(ORR).Herein,following a heterointerfaceinduced orbital coupling rationale,we report a judicious design of an efficient ORR electrocatalyst consisting of Fe_(3)O_(4)/CeO_(2)hetero-nanoparticles in-situ encased into N-doped carbon nanofibers(abbreviated as Fe_(3)O_(4)/CeO_(2)@N-CNFs hereafter).The theoretic calculations uncover that the Fe_(3)O_(4)/CeO_(2)heterointerface-triggered orbital coupling can cause the down shift of the d-band center positions of Fe sites,which leads to the weakened chemisorption of oxygenated groups and lowered energy barrier for the potential-determining step,ultimately dramatically boosting the ORR intrinsic *** a consequence,the well-designed Fe_(3)O_(4)/CeO_(2)@N-CNFs display admirable ORR activity with a half-wave potential of 0.84 V and outstanding structural/electrochemical stability in an alkaline electrolyte,surpassing the commercial Pt/C benchmark and a majority of recently reported Fe_(3)O_(4)-based *** encouragingly,the Fe_(3)O_(4)/CeO_(2)@N-CNFsincorporated Zn-air battery outperforms the Pt/C-assembled counterpart with higher power density,larger energy density,and excellent cycling stability,serving as a competent candidate for ORR-involved renewable energy *** study offers an innovative approach for the rational manipulation of the d-band center and interfacial electron behavior of active sites toward the optimization of electrocatalytic performance.

关键词： hetero-nanoparticles electrospinning interfacial engineering orbital coupling oxygen reduction reaction

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Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

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National Science Review 2023年第8期10卷 222-231页

作者： Wenjun Tan Chuang Zhang Ruiqian Wang Yuanyuan Fu Qin Chen Yongliang Yang Wenxue Wang Mingjun Zhang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Histology and Embryology Basic Medical CollegeChina Medical University Chengdu Institute of Biology Chinese Academy of Sciences Department of Biomedical Engineering School of Medicine Tsinghua University Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong Kong

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish（Beaufortia kweichowensis） that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding(7.83 body lengths per second（BL/S）) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force（0.1 mN/mm2） generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

关键词： bioinspired underwater adhesion crawling robots rock-climbing fish Stefan adhesion underwater robots

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In situ transcriptomic analysis of spermatocytes in non-obstructive azoospermia reveals senescence-like states in arrested spermatocytes

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Genes & Diseases 2025年第1期12卷 29-32页

作者： Zhongqin Wu Xiaolong Wu Zeqian Xu Yixin Liu Ziyi Zhu Xinhui Li Daniel M. Czajkowsky Fei Sun Yan Guo Zhifeng Shao State Key Laboratory of Systems Medicine for Cancer School of Biomedical Engineering and Bio-ID CenterShanghai Jiao Tong UniversityShanghai 200240China Department of Urology and Andrology Sir Run Run Shaw HospitalZhejiang University School of MedicineHangzhouZhejiang 310016China

Germ cell arrest is one kind of important disease in nonobstructive azoospermia(NOA)including spermatogonia arrest,spermatocyte arrest,and round spermatid arrest.1 There is an urgent need to explore the molecular mechanisms underlying germ cell arrest,which are essentially unknown and could provide not only a promising approach for therapy but also novel possibilities for developing male contraceptives.

关键词： obstructive azoospermia arrest

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Gelatin-Based Metamaterial Hydrogel Films with High Conformality for Ultra-Soft Tissue Monitoring

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Nano-Micro Letters 2024年第2期16卷 347-364页

作者： Yuewei Chen Yanyan Zhou Zihe Hu Weiying Lu Zhuang Li Ning Gao Nian Liu Yuanrong Li Jing He Qing Gao Zhijian Xie Jiachun Li Yong He State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027People’s Republic of China School of Mechanical Engineering Guizhou UniversityGuiyang 550025People’s Republic of China Stomatology Hospital School of StomatologyZhejiang University School of MedicineClinical Research Center for Oral Diseases of Zhejiang ProvinceKey Laboratory of Oral Biomedical Research of Zhejiang ProvinceCancer Center of Zhejiang UniversityHangzhou 310006People’s Republic of China

Implantable hydrogel-based bioelectronics(IHB)can precisely monitor human health and diagnose ***,achieving biodegradability,biocompatibility,and high conformality with soft tissues poses significant challenges for *** is the most suitable candidate for IHB since it is a collagen hydrolysate and a substantial part of the extracellular matrix found naturally in most *** study used 3D printing ultrafine fiber networks with metamaterial design to embed into ultra-low elastic modulus hydrogel to create a novel gelatin-based conductive film(GCF)with mechanical *** regulation of GCF nearly covers soft tissue mechanics,an elastic modulus from 20 to 420 kPa,and a Poisson’s ratio from-0.25 to *** negative Poisson’s ratio promotes conformality with soft tissues to improve the efficiency of biological *** GCF can monitor heartbeat signals and respiratory rate by determining cardiac deformation due to its high ***,the gelatin characteristics of the biodegradable GCF enable the sensor to monitor and support tissue *** GCF metamaterial design offers a unique idea for bioelectronics to develop implantable sensors that integrate monitoring and tissue repair and a customized method for endowing implanted sensors to be highly conformal with soft tissues.

关键词： Implantable hydrogel-based bioelectronics Conformality 3D printing Metamaterial design

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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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The manipulation of rectifying contact of Co and nitrogen-doped carbon hierarchical superstructures toward high-performance oxygen reduction reaction

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Carbon Energy 2024年第9期6卷 338-349页

作者： Jing Li Tingyu Lu Yu Fang Guangyao Zhou Mingyi Zhang Huan Pang Jun Yang Yawen Tang Lin Xu Jiangsu Key Laboratory of New Power Batteries School of Chemistry and Materials ScienceJiangsu Collaborative Innovation Center of Biomedical Functional MaterialsNanjing Normal UniversityNanjingJiangsuChina College of Science Jinling Institute of TechnologyNanjingJiangsuChina Key Laboratory for Photonic and Electronic Bandgap Materials Ministry of EducationSchool of Physics and Electronic EngineeringHarbin Normal UniversityHarbinHeilongjiangChina School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhouJiangsuChina State Key Laboratory of Multiphase Complex Systems Center of MesoscienceInstitute of Process EngineeringChinese Academy of SciencesBeijingChina

Rational design and construction of oxygen reduction reaction(ORR)electrocatalysts with high activity,good stability,and low price are essential for the practical applications of renewable energy conversion devices,such as metal-air *** modification through constructing metal/semiconductor Schottky heterointerface represents a powerful strategy to enhance the electrochemical ***,we demonstrate a concept of Schottky electrocatalyst composed of uniform Co nanoparticles in situ anchored on the carbon nanotubes aligned on the carbon nanosheets(denoted as Co@N-CNTs/NSs hereafter)toward *** experimental findings and theoretical simulation testify that the rectifying contact could impel the voluntary electron flow from Co to N-CNTs/NSs and create an internal electric field,thereby boosting the electron transfer rate and improving the intrinsic *** a consequence,the Co@N-CNTs/NSs deliver outstanding ORR activity,impressive long-term durability,excellent methanol tolerance,and good performance as the air-cathode in the Zn-air *** design concept of Schottky contact may provide the innovational inspirations for the synthesis of advanced catalysts in sustainable energy conversion fields.

关键词： Co-based electrocatalysts oxygen reduction reaction rectifying contact Zn-air batteries

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Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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Ultrathin curved PdNiRu nanosheets as bifunctional catalysts for oxygen reduction and ethylene glycol oxidation

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Nano Research 2024年第5期17卷 3777-3784页

作者： Xianzeng Li Tingyu Lu Huan Pang Mingyi Zhang Dongdong Xu Lin Xu Min Han Jun Yang Jiangsu Key Laboratory of New Power Batteries Jiangsu Collaborative Innovation Center of Biomedical Functional MaterialsSchool of Chemistry and Materials ScienceNanjing Normal UniversityNanjing 210023China Fujian Cross Strait Institute of Flexible Electronics(Future Technology) Fujian Normal UniversityFuzhou 350117China State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China State Key Laboratory of Coordination Chemistry Nanjing UniversityNanjing 210023China School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225009China Key Laboratory for Photonic and Electronic Bandgap Materials Ministry of EducationSchool of Physics and Electronic EngineeringHarbin Normal UniversityHarbin 150025China

Pd-based metallic nanosheets with advanced physicochemical properties have been widely prepared and employed in various electrocatalytic ***,few concerns were focused on their multiple performances in different ***,highly curved and ultrathin PdNiRu nanosheets(NSs)are developed by facile wet-chemistry strategy and exhibit excellent electrocatalytic performance toward both oxygen reduction reaction(ORR)and ethylene glycol oxidation reaction(EGOR).Owing to the synergistically structural(e.g.,ultrathin,curved,defects/steps-rich)and compositional(ternary alloy)advantages,PdNiRu NSs exhibited enhanced ORR and EGOR specific/mass activities and better stability/durability than control *** specific activity(5.52 mA·cm^(−2))and mass activity(1.13 A·mg_(Pd)^(−1))of the PdNiRu NSs in ORR are 4.8 and 3.4 times as the ones of commercial Pt/C,*** mass activity of PdNiRu NSs(3.86 A·mg_(Pd)^(−1))in EGOR is 2.6 times as commercial Pd/C(1.51 A·mg_(Pd)^(−1)).This study is helpful for the development of desired electrocatalysts with multi-functional application in practical fuel cells.

关键词： ultrathin nanosheets noble metal electrocatalysts bifunctional

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