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Swarming magnetic photonic-crystal microrobots withon-the-fly visual pH detection and self-regulated drug delivery

InfoMat 2023年第10期5卷 64-79页

作者： Zheng Yu Luolin Li Fangzhi Mou Shimin Yu Di Zhang Manyi Yang Qing Zhao Huiru Ma Wei Luo Tianlong Li Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering Wuhan University of TechnologyWuhanthe People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinthe People's Republic of China Wuhan Institute of Photochemistry and Technology Wuhanthe People's Republic of China

Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.

关键词： collective behaviors drug delivery micro/nanorobots on-the-fly sensing responsivephotonic crystals

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IMU-based joint angle measurement for robot joint angle analysis 3

IMU-based joint angle measurement for robot joint angle anal...

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3rd International Conference on Computer Science and Communication technology, ICCSCT 2022

作者： Chen, Haidie Li, Xiaoqi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

Aiming at solving the problem of joint angle measurement during the movement of small robots or robotic arms that cannot be equipped with angle encoders, this paper provides a small, lightweight and detachable measurement system. Compared with traditional magnetic and optical joint angle sensors, the principle of this method has the advantages of flexible installation and non-invasive measurement. By simply binding two inertial measurement units (IMUs) on both sides of the robot joint in any pose, real-time and high-precision robot joint angle measurement can be achieved through wireless transmission. At the same time, the relationship between the IMU and the joint pose changes dynamically with the robot, which can avoid measurement errors due to loose binding or robot vibration. In this paper, experiments were carried out on a knee joint rehabilitation training robot which can realize two rehabilitation actions, and the precise and stable joint angle curve of the robot is obtained. © 2022 SPIE.

关键词： Robots

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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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Design and Implementation of a Control System for Wrist Offset Wheel Hub Polishing Robot 12

Design and Implementation of a Control System for Wrist Offs...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zhu, Kui Zhao, Lijun Liu, Zhiheng Xia, Yi Harbin Institute of Technology Department of State Key Laboratory of Robotics and Systems Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The application of the offset wrist robot meets the needs of wheel hub grinding and polishing, and there is no open motion control system for this solution. This paper proposes a cooperative design method of the software and hardware control system oriented to the grinding and polishing robot with offset wrist, which realizes the hardware bus integration, software modularization and standardized synchronous design, and effectively improves the stability and usability of the control system. Its electronic control system, motion control software system and human-computer interaction system are designed, and the problem of software and hardware co-design of offset grinding and polishing robot is solved. This paper realizes the connection of the non-real-time module of the upper machine through the ADS communication method, and designs the human-computer interaction software interface. At the same time, a grinding and polishing process software package is added to the upper machine to manage the hub and grinding and polishing process, and realize tasks such as motion simulation and trajectory planning, which improves the versatility and can also meet the special requirements for grinding and polishing. Based on the EtherCAT bus technology, this paper realizes the communication between the upper machine and the lower machine, and embeds real-time control modules such as kinematics calculation and joint interpolation calculation in the Beckhoff controller to achieve high speed and real-time control. Finally, the rationality and stability of the control system are verified through an example program. The grinding and polishing path of the wheel hub surface is created through the offline system, and the wheel hub grinding and polishing processing is realized through simulation and experiment, which verifies the software-hardware collaborative design and real-time grinding and polishing performance. © 2022 IEEE.

关键词： Grinding (machining)

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM 3

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

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3rd International Conference on Computer Science and Management technology, ICCSMT 2022

作者： Dong, Yunlong Guo, Wei Zha, Fusheng Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9798350320404

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments. © 2022 IEEE.

关键词： Mobile robots

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Tailoring a Back-Contact Barrier for a Self-Powered Broadband Kesterite Photodetector With Ultralow Dark Current Enabling Ultra-Weak-Light Detection

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Carbon Energy 2025年第5期7卷 39-48页

作者： Qianfeng Wu Chuanhao Li Shuo Chen Zhenghua Su Muhammad Abbas Chao Chen Qianqian Lin Jingting Luo Liming Ding Guangxing Liang Shenzhen Key Laboratory of Advanced Thin Films and Applications Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province State Key Laboratory of Radio Frequency Heterogeneous Integration College of Physics and Optoelectronic Engineering Shenzhen University Wuhan National Laboratory for Optoelectronics (WNLO) and School of Optical and Electronic Information (SOEI) Huazhong University of Science and Technology Key Lab of Artificial Micro-and Nano-Structures of Ministry of Education of China Hubei Luojia Laboratory School of Physics and Technology Wuhan University School of Chemical Engineering and Light Industry Guangdong University of Technology

Visible and near-infrared photodetectors are widely used in intelligent driving, health monitoring, and other fields. However, the application of photodetectors in the near-infrared region is significantly impacted by high dark current, which can greatly reduce their performance and sensitivity, thereby limiting their effectiveness in certain applications. In this work, the introduction of a C60back interface layer successfully mitigated back interface reactions to decrease the thickness of the Mo（S,Se）2layer, tailoring the back-contact barrier and preventing reverse charge injection, resulting in a kesterite photodetector with an ultralow dark current density of 5.2 × 10-9m A/cm2and ultra-weak-light detection at levels as low as 25 p W/cm2. Besides, under a self-powered operation, it demonstrates outstanding performance, achieving a peak responsivity of 0.68 A/W, a wide response range spanning from 300 to 1600 nm, and an impressive detectivity of 5.27 × 1014Jones. In addition, it offers exceptionally rapid response times,with rise and decay times of 70 and 650 ns, respectively. This research offers important insights for developing high-performance self-powered near-infrared photodetectors that have high responsivity, rapid response times, and ultralow dark current.

关键词： detectivity kesterite photodetector thin film weak light detection

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A Practical Multi-camera SLAM System for Large Mobile Robots 2

A Practical Multi-camera SLAM System for Large Mobile Robots

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2nd International Conference on Big Data, Artificial Intelligence and Risk Management, ICBAR 2022

作者： Dong, Yunlong Ding, Hong Zha, Fusheng Li, Mantian State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9798350334265

It is very important to provide sufficient visual perception for large mobile robots to improve their security and intelligence. Considering the narrow field of vision and insufficient perception of a single camera, this paper proposes a practical multi-camera SLAM system. According to the hardware structure of the large mobile robot, the layout scheme of the multi-camera is designed and its field of view is analyzed. To make full use of the advantages of multi-camera data fusion, a multi-camera localization algorithm based on the main localization module and sub-localization module is proposed. In order to build a dense 3D point cloud map, a novel depth estimation method is present, which first uses the depth estimation method based on camera geometry to obtain a preliminary depth map, and then uses a convolutional neural network to refine it. Comprehensive experiments prove that our multi-camera SLAM system achieves appealing results and has strong practicability. © 2022 IEEE.

关键词： Mobile robots

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Usage of Colloidal AFM Probe for Research in Effects of Water Layer Evaporation on Interfacial Adhesion between Cellulose Surfaces 12

Usage of Colloidal AFM Probe for Research in Effects of Wate...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Geng, Junyuan Zhang, Hao Meng, Xianghe Gao, Haibo Rong, Weibin Xie, Hui Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Effects of the water layer evaporation on the interfacial adhesion between cellulose surfaces are researched via the atomic force microscopy (AFM) method in this article. A cellulose colloidal probe (CCP) is prepared through a dual-probe micromanipulation system, which is used to detect this time-varying adhesive interaction. The AFM system configuration, detailed fabrication of the CCP, principle of the adhesion measurement, and relevant calibration tasks are reported before the characterization. Several groups of adhesion mapping experiments have been executed at different divided periods after the water film forming on the sample surface of the cellulose membrane. The obtained results show that the interfacial adhesion has a significant downward trend when the water layer passing over time. In addition, the correlation of the surface topography and adhesion is displayed. The industrial applications of cellulose are inseparable from the participation of water solvent, meanwhile appropriate process adjustments according to the bonding strength between the cellulose surfaces during pulping and drying is necessary. This research can provide support in above occasions, which has its unique significance on the improving of processing technology. © 2022 IEEE.

关键词： Cellulose

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Lower limb motion pattern recognition based on IWOA-SVM 3

Lower limb motion pattern recognition based on IWOA-SVM

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3rd International Conference on Computer Science and Communication technology, ICCSCT 2022

作者： Li, Xiaoqi Yang, Yunlong Chen, Haidie Yao, Yufeng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

This paper presents a lower limb motion pattern recognition algorithm based on SVM model optimized by improved whale algorithm (IWOA-SVM). The purpose is to overcome the problems of low accuracy and low reaction speed of existing lower limb rehabilitation pattern recognition algorithms, nonlinear adjustment factor is combined with WOA to enhance the search ability and search speed of the algorithm. The collected surface EMG signals are used as the input of the motion pattern recognition system, and the motion pattern recognition is realized by combining the IWOA-SVM model. Simulation experiments on six test functions are carried out and compared with WOA. The results indicated that the search convergence speed and optimization accuracy of IWOA are improved. Experiments on the collected signal data suggested that the recognition accuracy is 94.12%, compared with WOA-SVM algorithm, PSO-SVM and GA-SVM. The results indicated that the recognition accuracy of this algorithm is improved by 4.02%, 8.82% and 6.64% respectively. © 2022 SPIE.

关键词： Pattern recognition

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Magnetic Tracking System with Capability of Automatic Magnetic Moment Measurement

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Journal of Shanghai Jiaotong University (Science) 2024年 1-12页

作者： Tian, Siyu Gao, Jinyang Huang, Peng Ma, Xinyu Ma, Ziyu State Key Laboratory of Dynamic Measurement Technology North University of China Taiyuan030051 China Key Laboratory of Micro/Nano Devices and Systems of Ministry of Education North University of China Taiyuan030051 China

Magnetic tracking technologies have a promising application in detecting the real-time position and attitude of a capsule endoscope. However, most of them need to measure the magnetic moment of a permanent magnet (PM) embedded in the capsule accurately in advance, which can cause inconvenience to practical application. To solve this problem, this paper proposes a magnetic tracking system with the capability of measuring the magnetic moment of the PM automatically. The system is constructed based on a 4 × 4 magnetic sensor array, whose sensing data is analyzed to determine the magnetic moment by referring to a magnetic dipole model. With the determined magnetic moment, a method of fusing the linear calculation and Levenberg-Marquardt algorithms is proposed to determine the 3D position and 2D attitude of the PM. The experiments verified that the proposed system can achieve localization errors of 0.48 mm, 0.42 mm, and 0.83 mm and orientation errors of 0.66°, 0.64°, and 0.87° for a PM (∅10 mm × 10 mm) at vertical heights of 5 cm, 10 cm, and 15 cm from the magnetic sensor array, respectively. © Shanghai Jiao Tong University 2024.

关键词： Permanent magnets

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