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Fluid pumping by liquid metal droplet utilizing ac electric field

Physical Review E 2022年第2期105卷 025102-025102页

作者： Chun-Lei Song Ye Tao Wei-Yu Liu Yi-Cheng Chen Rui Xue Tian-Yi Jiang Biao Li Hong-Yuan Jiang Yu-Kun Ren State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Engineering and Applied Sciences and Department of Physics Harvard University Cambridge Massachusetts 02138 USA School of Electronics and Control Engineering Chang'an University Xi'an 710000 China School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We report a unique phenomenon in which liquid metal droplets (LMDs) under a pure ac electric field pump fluid. Unlike the directional pumping that occurs upon reversing the electric field polarity under a dc signal, this phenomenon allows the direction of fluid motion to be switched by simply shifting the position of the LMD within the cylindrical chamber. The physical mechanism behind this phenomenon has been termed Marangoni flow, caused by nonlinear electrocapillary stress. Under the influence of a localized, asymmetric ac electric field, the polarizable surface of the position-offset LMD produces a net time-averaged interfacial tension gradient that scales with twice the field strength, and thus pumps fluid unidirectionally. However, the traditional linear RC circuit polarization model of the LMD/electrolyte interface fails to capture the correct pump-flow direction when the thickness of the LMD oxide skin is non-negligible compared to the Debye length. Therefore, we developed a physical description by treating the oxide layer as a distributed capacitance with variable thickness and connected with the electric double layer. The flow profile is visualized via microparticle imaging velocimetry, and excellent consistency is found with simulation results obtained from the proposed nonlinear model. Furthermore, we investigate the effects of relevant parameters on fluid pumping and discuss a special phenomenon that does not exist in dc control systems. To our knowledge, no previous work addresses LMDs in this manner and uses a zero-mean ac electric field to achieve stable, adjustable directional pumping of a low-conductivity solution.

关键词： Electrokinetic flows Interfacial flows Surface tension effects Lagrangian particle tracking

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An Improved Chimp Optimization Algorithm for Short-term Hydrothermal Scheduling

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2022年第3期49卷 666页

作者： Chen, Gonggui Wang, Shumin He, Yongsheng Shang, Wanfeng Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Shenzhen518055 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

The short-term hydrothermal scheduling (STHS) is a complex non-linear, non-convex and high-dimensional mathematical optimization problem. Due to the fact that the original chimp optimization algorithm (ChOA) is likely to fall into local optimum and has the disadvantage of low population diversity, an improved chimp optimization algorithm (IChOA) is proposed to solve the STHS problem. Firstly, Logistic-Tent chaotic mapping is employed to initialize the population and increase the population diversity. Then a new nonlinear convergence factor is introduced to make the optimization search process more applicable to STHS problems. Next, particle swarm algorithm (PSO) and gravitational search algorithm (GSA) are combined to enhance the shortcoming and balance the global search ability and local exploration ability of ChOA. Moreover, Cauchy mutation and opposition-based learning strategy are supplemented as perturbation interference when the optimal position is not updated to improve the ability to leap out of the local optimum. Finally, a graded optimization strategy is adopted for the constraint handing of dynamic reservoir balance and thermal power balance. Three standard hydrothermal power systems are utilized to verify the practicability and validity of the proposed method. Results of simulations reveal that IChOA has significant competitive advantages in addressing the STHS problem. © 2022, IAENG International Journal of Computer Science. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Analysis and experiments of the arc heating for fiber fused biconical taper technology

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Zhongguo Jiguang/Chinese Journal of Lasers 2015年第3期42卷 0305003-1-0305003-1-0305003-8页

作者： Zhang, Wei Rong, Weibin Yang, Wei Wang, Lefeng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical Engineering and Automation Harbin Institute of Technology HarbinHeilongjiang150001 China

The heating temperature is one of the key factors in the fiber fused biconical taper manufacture, which can affect the component performance. In order to improve the temperature stability and controllability in the heating region, the high-voltage arc heating device is presented and arc heating, heating region temperature and fiber preheating are studied. The high-frequency high voltage power source, in which the current and frequency can be adjusted independently, and electrodes are designed. The closed-loop controls of the voltage and current are applied to ensure the success of the arc ignition and the stability of the arc discharge current, and the discharge process is analyzed. The temperature detection device in which the infrared camera is adopted to measure the heating region temperature by the ceramic rod is designed. Through the analysis of experimental data, the relationships among the frequency, arc control voltage, arc current, heating distance and arc region temperature are determined. According to experiments and computation results, the temperature of the arc center region can reach 1635℃ within the stability of 2.37℃. Based on the established heating model for fine fibers with the diameter of 80 μm, the preheating time is computed by the transient analysis of the ANSYS software. It is shown that the temperature of the heating region can reach the stability by 25 s. ©, 2015, Science Press. All right reserved.

关键词： Temperature measurement

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Gesture recognition based on sparse representation

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International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

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基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

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Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing

High-density Baropodometry Platform Based on Vision Based Ta...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Yueshi Dong Jieji Ren Ningbin Zhang Weijing Zhao Jian Zhou Guoying Gu School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University University School of Medicine Shanghai China Department of Endocrinology and Metabolism Sixth People’s Hospital Shanghai Jiao Tong University School of Medicine Shanghai China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details (<2 mm), and the depth measurement accuracy is 68.5%. The experiments of reconstruction of plantar pressure depth map and identification of tumours show its’ advantage for providing adaptive high-resolution plantar topography and pressure measurement.

关键词： Performance evaluation Sensors Pressure measurement Surface topography Table lookup Object recognition Surface cracks Monitoring Image reconstruction Tumors

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Live Demonstration: A Reconfigurable, Energy-efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications

Live Demonstration: A Reconfigurable, Energy-efficient and H...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Dingcheng Jiang Bingqiang Liu Jipeng Wang Ao Hu Yequan Zhao Minjie Bao Zhendong Fan Zixuan Shen Ke Wang Chao Wang School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Future Technology Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

This demonstration shows a Extend Kalman Filter-Simultaneous Localization And Mapping (EKF-SLAM) accelerator based system On Chip (SoC) design for Autonomous Mobile Robots (AMR). The AMR platform consists of a multi-sensor system with a wheel encoder and LiDAR, and a ZYNQ-7000 FPGA based SoC featuring an EKF-SLAM hardware accelerator. This AMR system achieves real-time SLAM with significant energy efficient improvement against the state-of-the-art designs.

关键词： Location awareness Simultaneous localization and mapping Laser radar Wheels Energy efficiency Real-time systems system-on-chip

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Erratum to: Notice of Modification

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Journal of Bionic Engineering 2010年第1期7卷 112-112页

作者： Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

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Cover Feature: Phototaxis Motion Behavior of a Self‐propelled Submarine‐like Water Droplet Robot in Oil Solvent (ChemNanoMat 11/2020)

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ChemNanoMat 2020年第11期6卷

作者： Daxing Sun Dekai Zhou Yuan Gao Honger Yue Wuyi Wang Xing Ma Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China) E-mail: and

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Sparse Kernel Regression with Coefficient-based `q−regularization

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Journal of Machine Learning Research 2019年 20卷

作者： Shi, Lei Huang, Xiaolin Feng, Yunlong Suykens, Johan A.K. Shanghai Key Laboratory for Contemporary Applied Mathematics School of Mathematical Sciences Fudan University Shanghai China Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University MOE Key Laboratory of System Control and Information Processing Shanghai China Department of Mathematics and Statistics State University of New York at Albany New York United States Department of Electrical Engineering ESAT-STADIUS KU Leuven Kasteelpark Arenberg 10 LeuvenB-3001 Belgium

In this paper, we consider the `q−regularized kernel regression with 0 q−penalty term over a linear span of features generated by a kernel function. We study the asymptotic behavior of the algorithm under the framework of learning theory. The contribution of this paper is two-fold. First, we derive a tight bound on the `2−empirical covering numbers of the related function space involved in the error analysis. Based on this result, we obtain the convergence rates for the `1−regularized kernel regression which is the best so far. Second, for the case 0 ©c 2019 Lei Shi, Xiaolin Huang, Yunlong Feng, and Johan A.K. Suykens.

关键词： Regression analysis

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