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Design and manufacturing of micro/nanorobots

International Journal of Extreme Manufacturing 2024年第6期6卷 169-202页

作者： Junmin Liu Rencheng Zhuang Dekai Zhou Xiaocong Chang Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinPeople's Republic of China Key Laboratory of Micro-systems and Micro-structures Manufacturing HarbinPeople's Republic of China Zhengzhou Research Institute of Harbin Institute of Technology ZhengzhouPeople's Republic of China

Micro/nanorobots(MNRs)capable of performing tasks at the micro-and nanoscale hold great promise for applications in cutting-edge fields such as biomedical engineering,environmental engineering,and *** cope with the intricate and dynamic environments encountered in practical applications,the development of high performance MNRs is *** have evolved from single-material,single-function,and simple structure to multi-material,multi-function,and complex ***,the design and manufacturing of high performance MNRs with complex multi-material three-dimensional structures at the micro-and nanoscale pose significant challenges that cannot be addressed by conventional serial design strategies and single-process manufacturing *** material-interface-structure-function/performance coupled design methods and the additive/formative/subtractive composite manufacturing methods offer the opportunity to design and manufacture MNRs with multimaterials and complex structures under multi-factor coupling,thus paving the way for the development of high performance *** this paper,we take the three core capabilities of MNRs—mobility,controllability,and load capability—as the focal point,emphasizing the coupled design methods oriented towards their function/performance and the composite manufacturing methods for their functional *** limitations of current investigation are also discussed,and our envisioned future directions for design and manufacture of MNRs are *** hope that this review will provide a framework template for the design and manufacture of high performance MNRs,serving as a roadmap for researchers interested in this area.

关键词： micro/nanorobots functional structure design manufacturing

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Integrating 2D layered materials with 3D bulk materials as van der Waals heterostructures for photodetections:Current status and perspectives

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InfoMat 2023年第10期5卷 1-31页

作者： Weijie Liu Yiye Yu Meng Peng Zhihua Zheng Pengcheng Jian Yang Wang Yuanchen Zou Yongming Zhao Fang Wang Feng Wu Changqing Chen Jiangnan Dai Peng Wang Weida Hu Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhanthe People's Republic of China State Key Laboratory of Infrared Science and Technology Shanghai Institute of Technical PhysicsChinese Academy of SciencesShanghaithePeople's Republic of China State Key Laboratory of ASIC and System School of MicroelectronicsFudan UniversityShanghaithe People's Republic of China

In the last decade,two-dimensional layered materials(2DLMs)have been drawing extensive attentions due to their unique properties,such as absence of surface dangling bonds,thickness-dependent bandgap,high absorption coeffi-cient,large specific surface area,and so *** the high-quality growth and transfer of wafer-scale 2DLMs films is still a great challenge for the commerciali-zation of pure 2DLMs-based ***,the material growth and device fabrication technologies of three-dimensional(3D)semiconductors photodetectors tend to be gradually ***,the further improvement of the photodetection performance is limited by the difficult heterogeneous inte-gration or the inferior crystal quality via ***,2D/3D van der Waals heterostructures(vdWH)combine the advantages of the two types of materials simultaneously,which may provide a new platform for developing high-performance optoelectronic ***,we first discuss the unique advantages of 2D/3D vdWH for the future development of photodetection field and simply introduce the structure categories,working mechanisms,and the typical fabrication methods of 2D/3D vdWH ***,we outline the recent progress on 2D/3D vdWH-based photodetection devices integrating 2DLMs with the traditional 3D semiconductor materials,including Si,Ge,GaAs,AlGaN,SiC,and so ***,we highlight the current challenges and pros-pects of heterointegrating 2DLMs with traditional 3D semiconductors toward photodetection applications.

关键词： photodetectors three-dimensional semiconductors two-dimensional layered materials vander Waals heterostructures

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Study on Dynamic Characteristics of Single-Span Rotor Under Cross-Coupling Stiffness Control on Nondrive End

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Journal of Engineering for Gas Turbines and Power 2025年第7期147卷 071005页

作者： Ma, Yuhang Li, Qihang Yang, Bowen Zhang, Rui Wang, Weimin Yao, Jianfei Beijing Key Laboratory of Health Monitoring and Self-Recovery for High-End Mechanical Equipment Beijing University of Chemical Technology 15 Beisanhuan East Road Chaoyang District Beijing100029 China State Key Laboratory of High-End Compressor and System Technology Beijing University of Chemical Technology 15 Beisanhuan East Road Chaoyang District Beijing100029 China

The sealing-induced cross-coupling stiffness (CCS) often decreases the rotordynamic stability of turbomachinery. In our previous study, an active negative CCS control strategy applied between two bearings in the middle of the rotor was validated to enhance the stability of the rotor system. In this paper, a different approach was taken by applying both positive and negative CCS control strategies to the nondrive end, aiming to investigate their effects on rotordynamic stability using a rotordynamic model. The model represented a single-span centrifugal compressor rotor with CCS at the seal node. The logarithmic decrements and unbalance response of the rotor system were compared under different CCS applications at the nondrive end and in the span. The results demonstrate that applying both positive and negative CCS at the nondrive end can improve system stability, but the positive CCS strategy has limitations, and its applicability is not as extensive as negative CCS. A "critical stiffness"phenomenon emerges when the rotor system is actively stabilized at the nondrive end, resembling critical resonance. Furthermore, when components like seals introduce cross-coupling stiffness out of the span, they contribute to system stabilization. These findings provide valuable insights into actively enhancing the stability of rotor systems. © 2025 by ASME.

关键词： Centrifugal compressors

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A novel high-voltage solid-state switch based on the SiC MOSFET series and its overcurrent protection

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High Voltage 2023年第4期8卷 698-706页

作者： Dazhao He Wenjie Sun Yixin Liao Penghao Zhang Liang Yu Shoulong Dong Chenguo Yao Xin liu State Key Laboratory of Power Transmission Equipment and System Security and New Technology School of Electrical EngineeringChongqing UniversityChongqingChina Rizhao Power Supply Company State Grid Shangdong Electric Power CompanyRizhaoChina

All-solid-state switches are one of the core components of pulsed power supply ***,the voltage level of a single switch is *** optimizing the chip structure,the voltage level of a single switch can be *** to the immaturity of the production process and the positive correlation between the blocking voltage and the onresistance of the switch,it is difficult to improve the blocking voltage and the continuous forward current of a single switch *** series-connected switch is a way to increase the switch's blocking voltage without reducing the switch's continuous forward *** coupled isolated drive and resistor-capacitor forced voltage equalization techniques are investigated to increase the blocking voltage of the switches using multiple SiC metal-oxide-semiconductor field-effect transistors(MOSFETs)in series ***,a special overcurrent protection scheme is designed to improve the reliability of the series-connected ***,a high-voltage solid-state switch is developed based on the SiC MOSFET series connections,whose output pulse width is adjustable from 20 to 300μs,frequency is adjustable from 1 Hz to 3 kHz,the maximum output voltage can reach 57 kV(1 Hz),and the overcurrent protection time is about 1μs.

关键词： series state solid

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Investigation of the Vibration Behavior of a Foil Thrust Bearing Housing Under Angular Disturbance of the Runner 2nd

Investigation of the Vibration Behavior of a Foil Thrust Bea...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Chen, Rui Zhang, Chuanbing Cheng, Yongjun Wang, Bi Wang, Zixi State Key Laboratory of Tribology Tsinghua University Beijing China State Key Laboratory of High-End Compressor and System Technology Hefei China Laboratoy of Low Frequency Electromagnetic Communication Technology With the WMCRT CSSC Wuhan China

ISBN: (纸本)9789819980475

Foil thrust bearings are widely used in high-speed rotating machinery due to their temperature tolerance and contamination-free operation. However, the gas film thickness of the bearing can be weakened by the runner’s runout, which reduces the maximum load capacity of the bearing. To improve the load-carrying capacity of the bearing under runner’s runout, the angular stiffness and damping of the foil thrust bearing housing can be changed to provide angular tracking ability. However, this can result in resonance, which is detrimental to system stability and load-carrying capacity improvement. In this paper, the angular resonance behavior of the bearing housing was investigated theoretically. The results indicate that when the rotor speed is close to the critical speed, the bearing housing experiences angular resonance characterized by a sharp increase in motion amplitude and a sudden phase shift, leading to poor angular tracking ability. By adjusting the critical speed through changes in the angular stiffness, angular damping, and transverse moment of inertia, the angular resonance can be avoided for the bearing system. The results show that there is an optimal angular stiffness for the bearing housing that enables it to have maximum load. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Stiffness

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Online Optimization in Power systems With High Penetration of Renewable Generation:Advances and Prospects

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 839-858页

作者： Zhaojian Wang Wei Wei John Zhen Fu Pang Feng Liu Bo Yang Xinping Guan Shengwei Mei Key Laboratory of System Control and Information Processing Ministry of Education of ChinaDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Power System and the Department of Electrical Engineering Tsinghua UniversityBeijing 100084China Institute of High Performance Computing(IHPC) Agency for Science Technology and Research(A*STAR)Singapore 138632Singapore

Traditionally,offline optimization of power systems is acceptable due to the largely predictable loads and reliable *** increasing penetration of fluctuating renewable generation and internet-of-things devices allowing for fine-grained controllability of loads have led to the diminishing applicability of offline optimization in the power systems domain,and have redirected attention to online optimization ***,online optimization is a broad topic that can be applied in and motivated by different settings,operated on different time scales,and built on different theoretical *** paper reviews the various types of online optimization techniques used in the power systems domain and aims to make clear the distinction between the most common techniques *** particular,we introduce and compare four distinct techniques used covering the breadth of online optimization techniques used in the power systems domain,i.e.,optimization-guided dynamic control,feedback optimization for single-period problems,Lyapunov-based optimization,and online convex optimization techniques for multi-period ***,we recommend some potential future directions for online optimization in the power systems domain.

关键词： optimization Lyapunov optimization online convex optimization online optimization optimization-guided control

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A comparative techno-economic analysis for implementation of carbon dioxide to chemicals processes

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Chinese Journal of Chemical Engineering 2024年第11期75卷 86-101页

作者： Zhun Li Jinyang Zhao Ping Li Yadong Yu Chenxi Cao State Key Laboratory of Chemical Engineering East China University of Science and TechnologyShanghai 200237China School of Business East China University of Science and TechnologyShanghai 200237China Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of EducationEast China University of Science and TechnologyShanghai 200237China Engineering Research Center of Process System Engineering Ministry of EducationEast China University of Science and TechnologyShanghai 200237China

CO_(2)-based carbon-neutral organics production processes could potentially reshape the chemical ***,their feasibility and net carbon footprint rely strongly on the sources of H_(2).Herein,we present a comprehensive comparative techno-economic analysis of CO_(2)-based methanol(CO_(2)TM)and aolefins(CO_(2)TO)manufacturing using various feedstock supply modes:(1)the standalone mode with external CO_(2)but H_(2)from on-site water electrolysis,(2)the integrated mode with both CO_(2)and H_(2)recovered from coal-chemical plants,and(3)the integrated mode with recycled CO_(2)but H_(2)from on-site water *** integration of CO_(2)TM and CO_(2)TO into coal-to-olefins(CTO)and coal-to-methanol(CTM)facilities is currently cost-effective and can reduce net CO_(2)emissions by 65.7%and 68.5%,resulting in a three-fold and two-fold increase in carbon efficiency,*** carbon tax policies and electrolysis technologies continue to evolve,standalone CO_(2)TM and CO_(2)TO are projected to become more economically competitive than CTO and CTM by 2035-2045.

关键词： CO_(2) hydrogenation a-Olefins Methanol Techno-economic analysis Power to chemicals

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An Uncertainty Quantization-Based Method for Anti-UAV Detection in Infrared Images

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Computers, Materials & Continua 2025年第4期83卷 1439-1458页

作者： Can Wu Wenyi Tang Yunbo Rao Yinjie Chen Hui Ding Shuzhen Zhu Yuanyuan Wang School of Information and Software Engineering University of Electronic Science and Technology of ChinaChengdu610054China State Key Laboratory of Air Traffic Management System Nanjing210000China National Airspace Management Center Beijing100094China

Infrared unmanned aerial vehicle(UAV)target detection presents significant challenges due to the inter-play between small targets and complex *** methods,while effective in controlled environments,often fail in scenarios involving long-range targets,high noise levels,or intricate backgrounds,highlighting the need for more robust *** address these challenges,we propose a novel three-stage UAV segmentation framework that leverages uncertainty quantification to enhance target *** framework incorporates a Bayesian convolutional neural network capable of generating both segmentation maps and probabilistic uncertainty *** utilizing uncer-tainty predictions,our method refines segmentation outcomes,achieving superior detection ***,this marks the first application of uncertainty modeling within the context of infrared UAV target *** evaluations on three publicly available infrared UAV datasets demonstrate the effectiveness of the proposed *** results reveal significant improvements in both detection precision and robustness when compared to state-of-the-art deep learning *** approach also extends the capabilities of encoder-decoder convolutional neural networks by introducing uncertainty modeling,enabling the network to better handle the challenges posed by small targets and complex environmental *** bridging the gap between theoretical uncertainty modeling and practical detection tasks,our work offers a new perspective on enhancing model interpretability and *** codes of this work are available openly at https://***/general-learner/UQ_Anti_UAV(acceessed on 11 November 2024).

关键词： Object segmentation uncertainty quantification bayesian convolutional neural network

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Cooperative Angles-Only Relative Navigation Algorithm for Multi-Spacecraft Formation in Close-Range

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Computer Modeling in Engineering & Sciences 2023年第1期134卷 121-134页

作者： Sha Wang Chenglong He Baichun Gong Xin Ding Yanhua Yuan State Key Laboratory of Satellite Navigation System and Equipment Technology Shijiazhuang050081China Nanjing University of Aeronautics and Astronautics Nanjing210016China Beijing Institute of Control and Electronic Technology Beijing100038China

As to solve the collaborative relative navigation problem for near-circular orbiting small satellites in close-range under GNSS denied environment,a novel consensus constrained relative navigation algorithm based on the lever arm effect of the sensor offset from the spacecraft center of mass is ***,the orbital propagation model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics and the line-of-sight measurement under sensor offset condition is modeled in Local Vertical Local Horizontal ***,the consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft,based on which the consensus unscented Kalman filter is ***,the observability analysis is done and the necessary conditions of the sensor offset to make the state observable are ***,digital simulations are conducted to verify the proposed algorithm,where the comparison to the unconstrained case is also *** results show that the estimated error of the relative position converges very quickly,the location error is smaller than 10m under the condition of 10−3 rad level camera and 5m offset.

关键词： Relative navigation spacecraft formation observability analysis angles-only measurement

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