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Root-inspired,template-confined additive printing for fabricating high-robust conformal electronics

Microsystems & Nanoengineering 2024年第6期10卷 529-544页

作者： Guifang Liu Xiangming Li Yangfan Qiu Chuanhang Zeng Xinkai Zhu Chao Wang Xiaoliang Chen Chunhui Wang Hongmiao Tian Jinyou Shao Micro-and Nano-technology Research Center State Key Laboratory for Manufacturing Systems EngineeringXi’an Jiaotong UniversityXi’anShaanxi 710049China Frontier Institute of Science and Technology(FIST) 28 Xianning RoadXi’an Jiaotong UniversityXi’anShaanxi 710049China

Conformal electronic devices on freeform surface play a critical role in the emerging smart robotics,smart skins,and integrated sensing ***,their functional structures such as circuits tend to tear-off,break,or crack under mechanical or thermal influence when in service,thus limiting the application reliability of conformal ***,inspired by the tree root system,template-confined additive(TCA)printing technology was presented for reliable fabrication of robust *** printing technology involves the penetration of adhesive into the functional material,thereby enhancing the mechanical robustness of the circuits,allowing them to maintain their electrical performance despite the presence of external damaging factors such as scratching,abrasion,folding,and high *** example,herein,the circuits could withstand mechanical abrasion at temperatures as high as 350°C without compromising electrical *** from the confines of template,the printed circuits achieved resolutions of up to 300 nm,suitable for various materials such as P(VDF-TrFE),MWCNTs,and AgNPs,which enabled the multi-material self-aligned ***,the versatility of TCA printing was presented by fabricating circuits on arbitrary substrates,and realizing various devices,such as conformal temperature/humidity sensing system and epidermal ultra-thin energy storage *** applications present the significant potential of TCA printing in fabricating intelligent devices.

关键词： printing template conformal

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A novel piezoelectric actuated micro-tweezer with force sensing for optical fiber manipulation

A novel piezoelectric actuated micro-tweezer with force sens...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhao, Haoxiang Rong, Haoran Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Heilongjiang University of Science and Technology Harbin China

ISBN: (纸本)9798350327182

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario. © 2023 IEEE.

关键词： MEMS

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Text-Derived Relational Graph-Enhanced Network for Skeleton-Based Action Segmentation

arXiv

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arXiv 2025年

作者： Ji, Haoyu Chen, Bowen Ren, Weihong Huang, Wenze Yang, Zhihao Wang, Zhiyong Liu, Honghai State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Shenzhen518055 China

Skeleton-based Temporal Action Segmentation (STAS) aims to segment and recognize various actions from long, untrimmed sequences of human skeletal movements. Current STAS methods typically employ spatio-temporal modeling to establish dependencies among joints as well as frames, and utilize one-hot encoding with cross-entropy loss for frame-wise classification supervision. However, these methods overlook the intrinsic correlations among joints and actions within skeletal features, leading to a limited understanding of human movements. To address this, we propose a Text-Derived Relational Graph-Enhanced Network (TRG-Net) that leverages prior graphs generated by Large Language Models (LLM) to enhance both modeling and supervision. For modeling, the Dynamic Spatio-Temporal Fusion Modeling (DSFM) method incorporates Text-Derived Joint Graphs (TJG) with channel- and frame-level dynamic adaptation to effectively model spatial relations, while integrating spatio-temporal core features during temporal modeling. For supervision, the Absolute-Relative Inter-Class Supervision (ARIS) method employs contrastive learning between action features and text embeddings to regularize the absolute class distributions, and utilizes Text-Derived Action Graphs (TAG) to capture the relative inter-class relationships among action features. Additionally, we propose a Spatial-Aware Enhancement Processing (SAEP) method, which incorporates random joint occlusion and axial rotation to enhance spatial generalization. Performance evaluations on four public datasets demonstrate that TRG-Net achieves state-of-the-art results. © 2025, CC BY.

关键词： Spatio-temporal data

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H_(2)O_(2) treatment boosts activity of NiFe layered double hydroxide for electro-catalytic oxidation of urea

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Journal of Environmental Sciences 2023年第7期129卷 152-160页

作者： Jinshan Wei Jin Wang Xiaoming Sun College of Materials Science and Engineering Key Laboratory of Optoelectronic Devices and SystemsCollege of Physics and Optoelectronic EngineeringShenzhen UniversityShenzhen 518060China State Key Laboratory of Chemical Resource Engineering College of ChemistryBeijing University of Chemical TechnologyBeijing 100029China

Urea oxidation reaction(UOR)provides a method for hydrogen production besides wastewater treatment,but the current limited catalytic activity has prevented the ***,we develop a novel H_(2)O_(2) treatment strategy for tailoring the surface oxygen ligand of NiFe-layered double hydroxides(NiFe-LDH).The sample after H_(2)O_(2) treatment(NiFeOLDH)shows significant enhancement on UOR efficiency,with the potential of 1.37 V(RHE)to reach a current density of 10 mA/cm^(2).The boost is attributed to the richness adsorption O ligand on NiFeO-LDH as revealed by XPS and Raman *** calculation indicates formation of two possible types of oxygen ligands:adsorbed oxygen on the surface and exposed from hydroxyl group,lowered the desorption energy of CO_(2) product,which lead to the lowered onset *** strategy is further extended to NiFe-LDH nano sheet on Ni foam to reach a higher current density of 440 mA/cm^(2) of UOR at 1.8 V(RHE).The facile surface O ligand manipulation is also expected to give chance to many other electro-catalytic oxidations.

关键词： NiFe-LDH Urea oxidation reaction H_(2)O_(2)treatment Electro-catalysis Hydrogen production

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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High-performance flexible Sb_(2)Se_(3) thin-film photodetector for tunable color imaging and wearable physiological monitoring applications

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Nano Research 2025年第2期18卷 687-698页

作者： Shuo Chen Hong-Bo Li Yi Fu Guo-Qiang Liu Muhammad Ishaq Jun Luo Jian-Min Li Bo Che Jing-Ting Luo Liming Ding Tao Chen Guang-Xing Liang Shenzhen Key Laboratory of Advanced Thin Films and Applications Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong ProvinceState Key Laboratory of Radio Frequency Heterogeneous IntegrationCollege of Physics and Optoelectronic EngineeringShenzhen UniversityShenzhen 518060China The Hospital of Shenzhen General Station of Exit and Entry Frontier Inspection Shenzhen 518024China Key Laboratory of Artificial Micro-and Nano-structures of Ministry of Education School of Physics and TechnologyWuhan UniversityWuhan 430072China Hefei National Research Center for Physical Sciences at Microscale CAS Key Laboratory of Materials for Energy ConversionDepartment of Materials Science and EngineeringUniversity of Science and Technology of ChinaHefei 230026China Center for Excellence in Nanoscience(CAS) Key Laboratory of Nanosystem and Hierarchical Fabrication(CAS)National Center for Nanoscience and TechnologyBeijing 100190China

Antimony selenide(Sb_(2)Se_(3))has recently made considerable photovoltaic,advancements in photoelectrochemical,and photodetector research scenarios,owing to its advantageous material merits and superior optoelectronic *** contrast,the exploration of flexible Sb_(2)Se_(3) photoelectric devices are less attempted,though it possesses unique one-dimensional(1D)crystal structure to enable large deformation ***,we develop a flexible Sb2Ses thin-film photodetector on polyimide *** to the high-quality SbSes light absorber and benign interfaces at both back contact and heterojunction regions,the carrier dynamics are effectively *** leading flexible Sb_(2)Se_(3) photodetector showcases self-powered and broadband features,with exceptional responsivity of 0.51 A·W^(-1) and realistic detectivity up to 1.32×10^(13) Jones,ultra-fast response speed of 49 ns/351 ns of rise and decay times,and remarkable mechanical deformation stability,flourishing the high-level development for flexible Sb_(2)Se_(3) ***,a tunable single/dual-color flexible imaging system under band alignment modulation,along with a wearable and accurate heart rate/arterial blood oxygen saturation photoplethysmography detection system highlights the great application potential for flexible Sb,Ses photodetectors.

关键词： Sb_(2)Se_(3) flexible thin-film photodetector color imaging heart rate arterial blood oxygen saturation

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Crawling Gait Enables Stable Quadrupedal Locomotion in A Bioinspired Robotic Rat

Crawling Gait Enables Stable Quadrupedal Locomotion in A Bio...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Wang, Ruochao Quan, Xiaolong Xiao, Hang Du, Rongjie Qin, Boyang Shi, Qing Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (纸本)9798350372601

Constrained by the performance of actuators and controllers, achieving stable walking in small-scale quadruped robots has been more challenging compared to larger ones. Rats, in their natural habitat, can achieve stable walking even in extreme environments like narrow spaces by utilizing crawling motion to lower their center of mass. Inspired by this, we conducted a comparative study of the walking stability between crawling and trot gaits on a ratinspired robot named SQuRo. Initially, we collected motion data for both crawling and trot gaits of SQuRo in a simulated environment. Subsequently, we analyzed the dynamic stability of the robot using Poincaré maps. The results indicate that SQuRo's phase trajectories converged into closed loops with periodicity under both gaits, demonstrating the presence of limit cycles. Moreover, fixed points were observed in the Poincaré maps for both gaits, suggesting the dynamic stability of quadrupedal locomotion. Compared to the trot gait, the convergence loops of the crawling gait phase trajectories were smaller, indicating more stable locomotion. We tested the performance of SQuRo's crawling gait in challenging outdoor environments, where SQuRo demonstrated stable walking consistently. This work provides a new approach for achieving stable walking in small-scale quadruped robots and can be readily applied to controller design across different sizes of legged robots. © 2024 IEEE.

关键词： Rats

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Programmable Pressure Pneumatic System for Soft Robots

Programmable Pressure Pneumatic System for Soft Robots

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiao, Xinyu Huang, Kanghe Zhu, Renjie Xue, Yahui Wang, Wenjin Wang, Hongqiang Dai, Jian S. Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen518055 China Southern University of Science and Technology Institute of Robotics Shenzhen518055 China

ISBN: (纸本)9798350325706

In the realm of soft robotics, the pneumatic system is a crucial component that plays an essential role in achieving optimal motion performance since all motion performance is ultimately linked to precise pressure control within the air chambers. To efficiently provide programmable pressure states for driving soft robots, this paper proposes a programmable pressure pneumatic system consisting of air pumps and valves with eight independent air channels. This system can provide precise hybrid negative and positive pressure for soft pneumatic robots. Closed-loop pressure control is achieved by sensing the pressure states in each air channel through sensors. Furthermore, two types of soft robots based on single-chamber soft pneumatic actuators are designed to verify the effectiveness and practicality of the pneumatic system. The proposed pneumatic system is a universal platform that can meet the pressure control requirements of various soft robots driven by both positive and negative pressure and holds significant implications for actuation and control in soft robotics. © 2023 IEEE.

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GaitFormer: Two-Stream Transformer Gait Recognition Using Wearable IMU Sensors in the Context of Industry 5.0

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IEEE Sensors Journal 2025年第11期25卷 19947-19956页

作者： Lu, Zhangli Zhou, Huiying Wang, Longqiang Kong, Depeng Lyu, Honghao Wu, Haiteng Chen, Bing Chen, Fuguo Dong, Na Yang, Geng Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Hangzhou310058 China Innovation Institute Company Ltd. Hangzhou310000 China Hangzhou Shenhao Technology Key Laboratory of Intelligent Robot for Operation and Maintenance of Zhejiang Province Hangzhou China Hangzhou Shenhao Technology Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou310000 China

The rising attention to human-centricity, a core value of Industry 5.0, makes researchers propose various methods to place humans in the center of production, such as the human digital twin (HDT) and gait identity recognition. However, previous HDT applications in the Industry 5.0 era have less consideration of identity recognition, the vital way to link physical signals to personal archives in cyber systems. Herein GaitFormer, a two-stream transformer gait recognition method is proposed for application with the wearable inertial measurement unit (IMU) motion capture system. GaitFormer consists of temporal and channel modules enclosing Gaussian range encoding (GRE), multihead autocorrelation mechanism, and multiscale as convolutional neural network (CNN) layers. It outperforms state-of-the-art architectures with extensive experiments over publicly available IMU-based datasets, respectively: whuGait and OU-ISIR. Then, the study intends to combine the motion capture system and gait identity recognition algorithm to propose an application of personal monitoring in the human-cyber-physical-system (HCPS), which uses GaitFormer to recognize the identity of the user with motion capture system and show their corresponding customized HDT. This work may contribute to making a connection between gait identity recognition and HDT, constructing personal working profiles in the environment of Industry 5.0. © 2001-2012 IEEE.

关键词： Convolutional neural networks

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A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

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Space(Science & technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

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