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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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An optical carbon nanotube fibre probe for measurement of nano structures with large aspect ratio

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Nano Research 2025年第3期18卷 436-443页

作者： Weihao Tao Shuhao Zhao Hanjin Dong Ze Zhang Peirui Ji Shenghan Qin Wenbo Hu Jinlong Zhu Renjie Zhou Shuming Yang State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Department of Biomedical Engineering The Chinese University of Hong KongHong KongChina

With the development of imaging and measurement technologies,scanning near-field optical microscopy(SNOM)has achieved high signal-to-noise *** resolution of a fibre probe-based SNOM system is capable of reaching 10 ***,SNOM applications are presently constrained to the measurement of near-field optical information to relatively straightforward structures,including quantum dots,carbon nanotubes,graphene,and so *** geometry of conventional fibre probes,with tips at an angle of 30°-60°,presents a challenge for accurately imaging complex surface *** paper proposes a carbon nanotube composite fibre probe(CNT-FP)with a large aspect *** key point is that a carbon nanotube bundle is composited at the tip of conventional surface plasmon polaritons fibre probes(SPPs-FP),which are the fibre probes coated with gold film to excite the *** coupling,propagation,and focusing effects of SPPs on the carbon nanotube bundle are ***-FPs have been fabricated and applied to measure a grating with the depth of 400 nm and the width of 400 *** experimental results show that the measurement accuracy and imaging quality of CNT-FP are nearly one order of magnitude higher than that of conventional SPPs-FP,as evidenced by evaluation criteria such as line roughness and volatility ***,it achieves an optical resolution of 72.1 nm in the measurements of a nano structure with large aspect *** provides an effective solution of measuring structures with larger aspect ratios.

关键词： carbon nanotubes fibre optic probes surface plasmon polaritons nano-focusing large aspect ratio

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Deep Reinforcement Learning-based Multi-Objective Scheduling for Distributed Heterogeneous Hybrid Flow Shops with Blocking Constraints

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Engineering 2025年第3期46卷 278-291页

作者： Xueyan Sun Weiming Shen Jiaxin Fan Birgit Vogel-Heuser Fandi Bi Chunjiang Zhang State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Institute of Automation and Information Systems Technical University of MunichGarching 85748Germany

This paper investigates a distributed heterogeneous hybrid blocking flow-shop scheduling problem(DHHBFSP)designed to minimize the total tardiness and total energy consumption simultaneously,and proposes an improved proximal policy optimization(IPPO)method to make real-time decisions for the DHHBFSP.A multi-objective Markov decision process is modeled for the DHHBFSP,where the reward function is represented by a vector with dynamic weights instead of the common objectiverelated scalar value.A factory agent(FA)is formulated for each factory to select unscheduled jobs and is trained by the proposed IPPO to improve the decision *** FAs work asynchronously to allocate jobs that arrive randomly at the shop.A two-stage training strategy is introduced in the IPPO,which learns from both single-and dual-policy data for better data *** proposed IPPO is tested on randomly generated instances and compared with variants of the basic proximal policy optimization(PPO),dispatch rules,multi-objective metaheuristics,and multi-agent reinforcement learning *** experimental results suggest that the proposed strategies offer significant improvements to the basic PPO,and the proposed IPPO outperforms the state-of-the-art scheduling methods in both convergence and solution quality.

关键词： Multi-objective Markov decision process Multi-agent deep reinforcement learning Proximal policy optimization Distributed hybrid flow-shop scheduling Blocking constraints

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Micro-cylindrical temperature sensors array via conformal electrohydrodynamic printing

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Science China Technological Sciences 2025年第5期68卷 128-141页

作者： Wuxing LAI Chenyang ZHAO Hongyang WANG Qingshuang WU Dong YE YongAn HUANG State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Flexible Electronics Research Center Huazhong University of Science and Technology

Micro-cylindrical temperature sensors are crucial components for in-situ physiological signal monitoring in smart healthcare and minimally invasive surgical systems. However, due to the high-curvature complexity of the substrates, highprecision microfabrication on micro-cylindrical surfaces still faces significant challenges. This study proposes a microcylindrical electrohydrodynamic printing process to achieve on-demand high-resolution patterning on high-curvature surfaces with diameters ranging from 55 μm to 10 mm, addressing issues of mapping errors and stress concentration in array sensors integrated on micro-cylindrical surfaces. A physical model of micro-cylindrical electrohydrodynamic printing is established based on two-phase flow electrohydrodynamics to analyze the factors affecting the formation of stable cone-jets and the deposition of ink droplets on curved surfaces. Considering the elongated and high-curvature characteristics of micro-cylindrical objects, a printing system is designed with four degrees of freedom, coupling object rotation and translation. Numerical simulations reveal the patterns of electric field distortion caused by the horizontal offset of the nozzle relative to the vertical symmetry axis of the object, while experimental results identify the printing windows for inks of varying viscosities, voltages,and printing heights. Finally, a temperature sensor array is fabricated on the micro-cylindrical surface(sensor line width ～150 μm, lead wire width less than 50 μm, sensitivity ～0.00106), validating the consistency and stability of the array sensors and enabling temperature measurements in the range of 20℃-100℃. Additionally, the capability of the sensors array for temperature monitoring in simulated narrow cavity heating environments is demonstrated, exploring a novel method for fabricating advanced minimally invasive surgical instruments.

关键词： materials deposition process micro-cylindrical electrohydrodynamic printing high-curvature surface high-resolution patterning temperature monitoring

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A data-driven rolling optimization method for trajectory tracking error prediction of CNC machine tools

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Science China(Technological Sciences) 2025年第1期68卷 270-285页

作者： Yinxin GUAN Jixiang YANG Shizhong TAN Han DING School of Mechanical Science and Engineering State Key Laboratory of Intelligent Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China

The dynamic performance of the feed-drive system in CNC machine tools directly influences the accuracy of machined *** enhance the motion control performance of CNC machine tools,a high-precision model of the feed-drive system is ***,current modeling methods for feed-drive systems seldom consider time-varying factors such as loads,wear,and *** a result,the model accuracy degrades when the system characteristics are affected by these time-varying *** this paper,a rolling optimization method with partial weights frozen is developed to realize quick iterative learning of a data-driven model for a feed drive system with time-varying characteristics using a small amount of ***,the long short-term memory fully connected(LSTM-FC)network is built and divided into feature extraction and output fitting parts based on their ***,a weight freezing-based rolling optimization method is *** weights in the feature extraction part are frozen,which preserves the learned common knowledge and patterns by solidifying the way that high-dimensional features are extracted from the *** adjusting the weights in the output fitting part,the extracted highdimensional features are remapped to the new data distribution changed by time-varying ***,the performance of the developed rolling optimization method is confirmed by *** results show that the proposed rolling optimization method reduces the maximum prediction errors by 49.5%and the total training time by 96.3%compared with existing methods,which demonstrates that the proposed method can restore model accuracy when the system characteristics change due to timevarying factors,and significantly accelerate the optimization process by rolling optimization.

关键词： rolling optimization feed-drive system data-driven time-varying machine tool

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A Mesh-Type Topology Pattern for Robust Marker Tracking in Visuotactile Sensor

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IEEE Sensors Journal 2025年第10期25卷 16787-16796页

作者： Ma, Huan Niu, Bangyan Ji, Jingjing Huazhong University of Science and Technology State Key Laboratory of Intelligent Manufacturing Equipment and Technology Wuhan430074 China

Visuotactile sensors (VTS) perceive the tactile information through the elastomer deformation captured by the embedded camera. Markers are commonly added to the elastomer surface for VTS to get physical process sensing capabilities, whatever the imaging environment. Consequently, the success of marker tracking is a prerequisite for VTS perception. Marker missing and mismatching become one of the biggest limitations of VTS performance improvement. In this paper, a mesh-type topology pattern-based frame-independent marker tracking method is proposed to enhance the tracking robustness, particularly when large deformation occurs. The mesh pattern provides connectivity between different markers and the corresponding algorithm fully utilizes the inherent topological relations of all neighboring markers within the mesh for marker tracking. The effectiveness of the proposed method is validated both numerically and experimentally. The tracking accuracy is qualitatively analyzed by comparing it with traditional tracking methods and further evaluated based on a VTS prototype. Results confirmed that the proposed method significantly enhances the tracking robustness under large deformations and its compatibility with texture perception in photometric stereo environment. © 2001-2012 IEEE.

关键词： Mesh generation

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Fabrication of bamboo-inspired continuous carbon fiber-reinforced SiC composites via dual-material thermally assisted extrusion-based 3D printing

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材料科学技术（英文版） 2025年第5期208卷 92-103页

作者： Sai Li Haitian Zhang Zhongliang Lu Fusheng Cao Ziyao Wang Yan Liu Xiaohui Zhu Shuai Ning Kai Miao Shaoyu Qiu Dichen Li State Key Laboratory for Manufacturing Systems Engineering School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an 710049China State Key Laboratory for Manufacturing Systems Engineering School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an 710049China School of Intelligent Manufacturing Modern Industry Xinjiang UniversityUrumqi 830046China Science and Technology on Reactor Fuel and Materials Laboratory Nuclear Power Institute of ChinaChengdu 610213China

Ceramic matrix composites(CMCs)structural components encounter the dual challenges of severe mechanical conditions and complex electromagnetic environments due to the increasing demand for stealth technology in aerospace *** address various functional requirements,this study integrates a biomimetic strategy inspired by gradient bamboo vascular bundles with a novel dual-material 3D print-ing *** distinct bamboo-inspired structural configurations Cf/SiC composites are designed and manufactured,and the effects of these different structural configurations on the CVI process are *** method is utilized to characterize the relationship between interface bonding strength and mechanical *** results reveal that the maximum flexural strength and fracture toughness reach 108.6±5.2 MPa and 16.45±1.52 MPa m1/2,respectively,attributed to the enhanced crack propagation resistance and path caused by the weak fiber-matrix ***,the bio-inspired configuration enhances the dielectric loss and conductivity loss,exhibiting a minimum reflection loss of-24.3 dB with the effective absorption band of 3.89 *** work introduces an innovative biomimetic strategy and 3D printing method for continuous fiber-reinforced ceramic composites,expanding the ap-plication of 3D printing technology in the field of CMCs.

关键词： 3D printing Cf/SiC composites Mechanical properties Electromagnetic wave absorption

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Beyond Performance of Learning Control Subject to Uncertainties and Noise: A Frequency-Domain Approach Applied to Wafer Stages

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 198-214页

作者： Fazhi Song Ning Cui Shuaiqi Chen Kai Zhang Yang Liu Xinkai Chen Jiubin Tan IEEE the Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technology the State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology the Center of Ultraprecision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of UltraPrecision Intelligent Instrumentation Ministry of Industry and Information Technology the Department of Electronic and Information Systems Shibaura Institute of Technology

The increasingly stringent performance requirement in integrated circuit manufacturing, characterized by smaller feature sizes and higher productivity, necessitates the wafer stage executing a extreme motion with the accuracy in terms of nanometers. This demanding requirement witnesses a widespread application of iterative learning control(ILC), given the repetitive nature of wafer scanning. ILC enables substantial performance improvement by using past measurement data in combination with the system model knowledge. However, challenges arise in cases where the data is contaminated by the stochastic noise, or when the system model exhibits significant uncertainties, constraining the achievable performance. In response to this issue, an extended state observer(ESO) based adaptive ILC approach is proposed in the frequency *** being model-based, it utilizes only a rough system model and then compensates for the resulting model uncertainties using an ESO, thereby achieving high robustness against uncertainties with minimal modeling effort. Additionally, an adaptive learning law is developed to mitigate the limited performance in the presence of stochastic noise, yielding high convergence accuracy yet without compromising convergence speed. Simulation and experimental comparisons with existing model-based and data-driven inversion-based ILC validate the effectiveness as well as the superiority of the proposed method.

关键词： Extended state observer learning control model uncertainties motion control stochastic noise

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Enhancement mechanism of plastic stress in nanocrystalline metals using carbon nanotubes: Molecular simulation and characterization

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Science China Technological Sciences 2025年第5期68卷 106-116页

作者： Fei WANG Li LI Xinli JIANG Xuelin WANG Yujin HU State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and Technology College of Mechanical Engineering Taiyuan University of Technology

The instability of nanograined metals and the degradation of their mechanical properties primarily arise from pronounced grain boundary(GB) sliding and migration at extremely small grain sizes(GS). This study explores the incorporation of carbon nanotubes(CNTs) into nanocrystalline metals to enhance plastic flow stress by impeding metal deformation. The results demonstrate that CNTs increase the critical stress of pure polycrystalline metals as GS increases. The relationship between plastic flow stress and GS in the composites is modeled using Hall-Petch and inverse Hall-Petch frameworks. As GS increases, the dominant plastic strengthening mechanism transitions from GB sliding hindrance via CNTs to a combined effect that mitigates GB sliding and intragranular stacking faults. Additionally, the study evaluates how CNT length, wall number, and functionalization influence plastic strengthening. Hence, these findings provide a theoretical foundation for the design of mechanically stable nanocrystalline metal composites.

关键词： nanocrystalline metal carbon nanotube molecular dynamics microstructure analysis grain boundary sliding

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