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材料展望（英文） 2022年第1期 9-31页

作者： J Y Zhang Z Q Zhou Z B Zhang M H Park Q Yu Z Li J Ma A D Wang H G Huang M Song B S Guo Q Wang Y Yang Department of Mechanical Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongPeople's Republic of China Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control EngineeringShenzhen UniversityShenzhenGuangdong 518060People's Republic of China School of Materials Science and Engineering Dongguan University of TechnologyDongguanGuangdong 523808People's Republic of China Institute of Materials China Academy of Engineering PhysicsJiangyouSichuan 621907People's Republic of China State Key Laboratory of Powder Metallurgy Central South UniversityChangshaHunan 410083People's Republic of China Department of Mechanical Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongPeople's Republic of China Institute of Advanced Wear & Corrosion Resistant and Functional Materials Jinan UniversityGuangzhouGuangdong 510632People's Republic of China Institute of Materials Laboratory for MicrostructuresShanghai UniversityShanghai 200444People's Republic of China Department of Mechanical Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongPeople's Republic of China Department of Materials Science and Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongPeople's Republic of China Department of Advanced Design and System Engineering College of EngineeringCity University of Hong KongKowloon TongKowloonHong KongPeople's Republic of China

Metallic glasses(MGs)or amorphous alloys are an important engineering material that has a history of research of about 80-90 *** different fast cooling methods were developed for multi-component MGs between 1960s and 1980s,1990s witnessed a surge of research interest in the development of bulk metallic glasses(BGMs).Since then,one central theme of research in the metallic-glass community has been compositional design that aims to search for MGs with a better glass forming ability,a larger size and/or more interesting properties,which can hence meet the demands from more important *** this review article,we focus on the recent development of chemically complex MGs,such as high entropy MGs,with new tools that were not available or mature yet until recently,such as the state-of-the-art additive manufacturing technologies,high throughput materials design techniques and the methods for big data analyses(*** learning and artificial intelligence).We also discuss the recent use of MGs in a variety of novel and important applications,from personal healthcare,electric energy transfer to nuclear energy that plays a pivotal role in the battle against global warming.

关键词： metallic glasses amorphous alloys alloy design additive manufacturing machine learning high throughput materials design

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Femtosecond fiber laser at 780 nm for two-photon autofluorescence imaging

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Chinese Optics Letters 2019年第7期17卷 63-65页

作者： Wan Yang Danlei Wu Runlong Wu Guanyu Liu Bingying Chen Lishuang Feng Zhigang Zhang Aimin Wang State Key Laboratory of Advanced Optical Communication System and Networks School of Electronics Engineering and Computer SciencePeking UniversityBeijing 1008711 China Key Laboratory of Precision Opto-Mechatronics Technology Ministry of EducationSchool of Instrumentation Science&Optoelectronics EngineeringBeihang UniversityBeijing 100191China

We present an Er-doped fiber(Er:fiber)-based femtosecond laser at 780 nm with 256 MHz repetition rate, 191 fs pulse duration, and over 1 W average *** from the careful third-order dispersion management, we introduce moderate self-phase modulation to broaden the output spectrum of the Er:fiber amplifier and achieve 193 fs pulse duration and 2.43W average *** 40% frequency doubling efficiency is obtained by a periodically poled lithium niobate *** through a hollow-core photonic bandgap fiber, this robust laser becomes an ideal and convenient light source for two-photon autofluorescence imaging.

关键词： Femtosecond fiber laser two-photon autofluorescence imaging

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A Visual Calibration Method of Monocular Camera and Pan-Tilt for Mobile Robots

A Visual Calibration Method of Monocular Camera and Pan-Tilt...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Jingwen Sun Lijun Zhao Ke Wang Yujia Zhao Xiangbo Meng Chuwei Mao Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System China School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

In the competition of “RoboMaster”, the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition.

关键词： Cameras Calibration Robot kinematics Robot vision systems Lasers Mirrors

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A 350 C piezoresistive n-type 4H-SiC pressure sensor for hydraulic and pneumatic pressure tests

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Journal of Micromechanics and Microengineering 2020年第5期30卷

作者： Fang, Xudong Wu, Chen Zhao, Yulong Jiang, Zhuangde Rong, Weibing Feng, Zhihong Lv, Yuanjie State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Collaborative Innovation Center of Suzhou Nano Science and Technology Xi'an Jiaotong University Xi'an710049 China School of Mechanical Engineering Xi'an Jiaotong University Xi'an710049 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China National Key Laboratory of Application Specific Integrated Circuit Hebei Semiconductor Research Institute Shijiazhuang050051 China

It has been a challenge to develop pressure sensors that can work in harsh environments. In this work, a piezoresistive n-type 4H-SiC pressure sensor is demonstrated, capable of working at 350 C under hydraulic and pneumatic pressure. The pressure measuring range of this sensor is 7 MPa and the chip dimension is 2.5 mm 2.5 mm 0.23 mm. A reliable Ti/TaSi2/Pt metal ohmic contact is used in the sensor and experimental results show that the metal combination can withstand a wide temperature range of 30 C-350 C. In order to avoid thermal stress induced by the mismatch of thermal expansion coefficients of different packaging materials when increasing temperature, a double-layer bonding scheme of cement glue and epoxy is proposed. The inner layer of the chip and the kovar alloy base are directly bonded with the epoxy, while the outer layer is wrapped with the high-temperature cement glue. Experiments confirm that this method can achieve reliable packaging with temperatures up to 350 C for 5 h. Based on the above key technologies, the sensitivity of this sensor can reach 13.2 mV V-1 kPa-1 and the test data exhibit high linearity and repeatability. Static tests prove that the sensor has good media compatibility which can operate under a hydraulic pressure load at 220 C and a barometric pressure load under 350 C. The sensor in this work can provide a reference for pressure measurements at high temperature and in complex media environments. © 2020 IOP Publishing Ltd.

关键词： Pressure sensors

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Human-like Walking of a Biped Robot Actuated by Pneumatic Artificial Muscles and Springs*

Human-like Walking of a Biped Robot Actuated by Pneumatic Ar...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Yixiang Liu Qing Bi Xizhe Zang Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Human walking gait is much more natural looking and energy efficient compared with biped robots. This paper presents a bio-inspired approach to realizing more human-like biped robotic walking. For this purpose, a biped robot actuated coordinately by pneumatic artificial muscles and springs is developed, capable of exploiting passive compliance of the mechanical system in locomotion. And a control scheme for human-like walking is designed based on finite state machine. Experiments show that the biped robot can walk stably on the treadmill even with some small obstacles. The realized gait has the important features of human walking, including heel strike and toe off, stretched knees, and variation in the height of the body's center of mass, which demonstrates the effectiveness of the proposed approach.

关键词： Conferences Automation Computer aided software engineering

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Walking of biped robot with variable stiffness at the ankle joint

Walking of biped robot with variable stiffness at the ankle ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Bi, Qing Liu, Yixiang Zang, Xizhe Song, Rui Wang, Haibin Li, Weimin Chinese Academy of Sciences Shandong Institute of Advanced Technology Jinan250001 China Shandong University School of Control Science and Engineering Jinan250061 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency. © 2019 IEEE.

关键词： Energy efficiency

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Optimal reaction control for the flexible base redundant manipulator system

Optimal reaction control for the flexible base redundant man...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Yaowen Liu, Yechao Xie, Zongwu Moallem, Mehrdad Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150006 China School of Mechatronic Systems Engineering Simon Fraser University VancouverBCV3T 0A3 Canada

ISBN: (纸本)9781728163215

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator. © 2019 IEEE.

关键词： Redundant manipulators

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Corrigendum to ‘A method for investigating aerodynamic load models of piezoaeroelastic energy harvester’ [Journal of Sound and Vibration 502 (2021) 116084]

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Journal of Sound and Vibration 2021年 508卷

作者： Haigang Tian Xiaobiao Shan Han Cao Rujun Song Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Shandong University of Technology Zibo 255049 China

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Toward Hazard Reduction of Road Vehicle after Tire Blowout: A Driver Steering Assist Control Strategy

Toward Hazard Reduction of Road Vehicle after Tire Blowout: ...

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第三十八届中国控制会议

作者： Lu Yang Ming Yue Hongzhi Zhang Gang Xu School of Automotive Engineering Dalian University of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Tire blowout or failure of road vehicle on the expressway has greatly threaten the safety of the passengers and host vehicle as well as surrounding vehicles, and existing studies show that driver improper intervention after tire blowout is one of the principal causes that induce the serious traffic accidents. To such issue, this paper develops a hazard reduction oriented driver steering assist control strategy for road vehicle after tire blowout by introducing a hierarchical closed-loop control architecture for timely assisting driver. Within this strategy, a model predictive control based path tracking controller and an optimal preview acceleration driver model are separately developed for enhancing vehicle lateral stability after tire blowout based upon feedback vehicle attitude information in upper-level. As well, the parameterized driver activity is formulated considering his/her driving action and driving state, upon which a assist determination coefficient is further designed for adaptively allocating intervention level of assist controller. In lower-level, supported by reported burst tire mechanical characteristic and B-class vehicle model sourced from CarSim, a Simulink-CarSim co-simulation platform is constructed, in which tire vertical force redistributions after tire blowout are explicitly considered. In the end, simulations performed on the developed platform validate the effectiveness and efficiency of the assist steering control strategy and methods in improving directional stability and lateral dynamics performance of the vehicle after tire blowout.

关键词： Assist intervention level Co-simulation platform Driver steering assist control Tire blowout

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Design and Kinematic Modeling of a Novel Steerable Needle for Image-Guided Insertion

Design and Kinematic Modeling of a Novel Steerable Needle fo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuyang Chen Haozhe Yang Xu Liu Kai Xu RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Needle-based procedures, such as biopsy and percutaneous tumor ablation, highly depend on the accuracy of needle placement. The accuracy is significantly affected by the needle-tissue interaction no matter what needles (straight or steerable) are used. Due to the unknown tissue mechanics, it is challenging to achieve high accuracy in practice. This paper hence proposes a needle design with an articulated tip for increased steerability and improved needle path consistency. Due to the passive needle tip articulation, tissue mechanics always plays a dominant role such that the needle creates similar paths with approximately piece-wise constant curvature in different tissues. Kinematics model for the proposed needle is presented. The algorithms of path planning and needle tip pose estimation under external imaging modality are developed. Experimental verifications were conducted to demonstrate the needle's steerability as well as the target-reaching capability with obstacles avoidance.

关键词： Needles Kinematics Fasteners Path planning Shape Electron tubes Laser beam cutting

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