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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Dual Transducers Co-Focusing Method for Ultrasound Stimulation in Calf Peripheral Nervous system: A Feasibility Study

Dual Transducers Co-Focusing Method for Ultrasound Stimulati...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Zheng, Haoran Wang, Xiaoxin Zhang, Hongwei Liu, Honghai Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Shenzhen China

ISBN: (纸本)9781665410205

As a neuromodulation technology, ultrasound stimulation exhibits great potential due to its non-invasive and targeted nature. Low-Intensity Focused Ultrasound (LIFU) allows for precise targeting of the peripheral nervous system, enabling the elicitation of diverse sensations in the human body, including tactile, cold, heat, and pain. Current research efforts predominantly focus on ultrasound stimulation of the upper limbs, specifically the fingers. However, there is a paucity of investigation pertaining to the stimulation of the peripheral nervous system in the lower limb of the human body. Furthermore, the utilization of a singularly focused transducer for stimulation introduces anisotropy, thereby rendering it challenging to enhance the axial resolution. This study aims to explore an innovative approach using dual transducers that synergistically focus ultrasound to achieve highly precise stimulation and reduce the disparity between axial and lateral resolution. The primary objective is to investigate the feasibility of utilizing this approach for deep muscle stimulation in the human calf muscles, thus delving into the realm of lower limb neuromodulation. © 2024 IEEE.

关键词： Ultrasonics

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Channel Attention Network for Feature Fusion of Ultrasonic and IMU Signals in Cross-Subject Gait Recognition

Channel Attention Network for Feature Fusion of Ultrasonic a...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Huang, Xujia Zhou, Zixiang Xu, Xinglong Wang, Zhiyong Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen Shenzhen China

ISBN: (纸本)9781665410205

In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across individuals. Ultrasonic and inertial sensing, as mainstream technologies in human-machine interfaces, can respectively detect the muscle states and limb information of the human body, offering potential complementary benefits. The fusion of ultrasonic(US) and Inertial Measurement Unit(IMU) is expected to significantly enhance the generalization ability of physiological signals in motion intention recognition. This paper presents a method that employs fusion of ultrasound and IMU signals, and designs a Convolutional Neural Network with Channel Attention Module (IU-CAM-CNN) for gait classification experiments. The experimental results demonstrate that by introducing channel attention modules, the model's ability to extract features from fused signals can be effectively enhanced, resulting in a classification accuracy of 90% for cross-individual movements. In contrast, traditional LDA and CNN networks achieve only 22% and 47% classification accuracy, respectively. This method provides an effective solution for cross-individual movement intention recognition. © 2024 IEEE.

关键词： Convolutional neural networks

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Polarization-and stress-related lattice dynamics in solid-solution perovskite ferroelectrics

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材料科学技术（英文版） 2025年第8期211卷 244-253页

作者： Bohan Xing Yu Wang Chengpeng Hu Xiangda Meng Xiaolin Huang Xing Wen Xinyu Jin Jinyu Ruan Qingxin Meng Peng Tan Hao Tian School of Physics Harbin Institute of TechnologyHarbin 150001China School of Physics Harbin Institute of TechnologyHarbin 150001China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information TechnologyHarbin 150001China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China

Perovskite ferroelectrics play an essential role in modern science and *** excellent proper-ties of perovskites are closely related to their lattice *** tantalate niobate(KTa1-xNbxO3,abbreviated as KTN)is a typical solid-solution perovskite with superior *** the opti-cal and electrical performances of KTN crystals have been widely explored,information on their lattice dynamics is still scarce,which partially limits the research and performance optimization of *** a solid-solution,spontaneous polarization of KTN exhibits strong tunability,and there is stress within ***,we performed first-principles calculations in conjunction with experiments to investigate the polarization-and stress-related lattice dynamics in *** assigned the vibration modes of observed Raman peaks,and established the relationship between spontaneous polarization and ***-cially,the lattice dynamics evolution of KTN crystal under stress was *** the results provide insights into the regulatory effect of stress on dielectric property from the perspective of lattice ***,the variation trends of phonons under stress,as well as the mechanism of stress effect in tetrag-onal perovskites were *** conclusions drawn for KTN crystal were generalized to tetragonal ferroelectric *** results help to reflect spontaneous polarization and structural characteristics distribution through non-destructive Raman spectra,and give a reference for improving performance by regulating lattice *** findings will hopefully guide research on performance origin and refined design of perovskite functional materials.

关键词： KTN crystal Lattice dynamics Spontaneous polarization Stress Perovskites

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Robot Navigation Strategy in Complex Environment Based on Episode Cognition

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Journal of Bionic Engineering 2023年第1期20卷 1-15页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Lining Sun Pengfei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Shenzhen Academy of Aerospace Technology Shenzhen518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou730050China

The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and *** cells can integrate their moment information and external perceptual information and acquire episodic cognitive *** episodic cognition and memory,organisms can achieve autonomous navigation in complex *** paper mainly studies the strategy of robot episode navigation in complex *** exploring the environment,the robot obtains subjective environmental cognition and forms a cognition *** grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced *** synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode *** the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer *** on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering *** paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.

关键词： Bionic intelligent.Grid cell-Hippocampus-Navigation strategy Episode cognition

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Design and Analysis of Rigid Continuous Deformation Mechanism Based on Heterogeneous Unit

Design and Analysis of Rigid Continuous Deformation Mechanis...

引用

International Conference on Mechanical Design, ICMD 2023

作者： Guo, Weiming Xiao, Hong Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Inspired by the space tessellation structure, this paper presents an innovative rigid continuous deformation mechanism (RCDM) by combining the unique properties of tetrahedron and octahedron shapes. The proposed mechanism exhibits multi degrees of freedom, including expansion, bending, and twisting, creating a continuous deformation surface akin to a flexible mechanism. Furthermore, the resulting deformation surface has high rigidity while easily seamlessly integrating with flexible materials as a supportive structure. Firstly, the structural design of this novel mechanism is introduced. Secondly, the mathematical model of the mechanism is established, analyzing its degree of mobility using the principles of screw theory. A comprehensive kinematics model is constructed to streamline the deformation process alongside a control strategy based on the deformation demand. Finally, a prototype is built to prove the feasibility of the mechanism deformation. The results demonstrate the spatial continuous deformation potential of the proposed mechanism, which holds promise for applications in space capture and morphing skeleton. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Kinematics

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Direct conversion of CO_(2)to graphene via vapor–liquid reaction for magnesium matrix composites with structural and functional properties

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Journal of Magnesium and Alloys 2023年第4期11卷 1206-1212页

作者： Xuejian Li Xiaojun Wang Xiaoshi Hu Chao Xu Wenzhu Shao Kun Wu State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001PR China National Key Laboratory of Precision Hot Processing of Metal Harbin Institute of TechnologyHarbin 150001PR China

Converting CO_(2)to valuable materials is attractive in environmental protection and resource *** this study,a vapor-liquid interface reaction system for mass production of high-quality graphene is *** graphene obtained has high crystallinity and few defects during the reaction of CO_(2)and Mg *** growth mechanism of graphene is demonstrated in vapor-liquid interface area by combining the CO_(2)bubbles as a soft template to guide growth with the confinement effect of dense MgO *** quality of the graphene is verified by epoxy composites with high electromagnetic shielding ***,the V-L reaction method ingeniously solves the dispersion of graphene in metal,providing a preparation strategy of Mg matrix composites with structure and function integration.

关键词： Graphene Vapor-liquid interface Magnesiothermic reaction Dispersion Shielding effectiveness

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Shape Memory Polymer Composite Booms with Applications in Reel-Type Solar Arrays

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 326-338页

作者： Hong Xiao Sijie Wu Dongdong Xie Hongwei Guo Li Ma Yuxuan Wei Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Yinhe Hangtian Internet Technology Co. Ltd.Beijing 100192China China Academy of Space Technology Beijing 100098China

Solar arrays are the primary energy source for *** traditional rigid solar arrays improve power supply,the quality increases ***,it is difficult to satisfy the requirements of high-power and low-cost space *** this study,a shape-memory polymer composite(SMPC)boom was designed,fabricated,and characterized for flexible reel-type solar *** SMPC boom was fabricated from a smart material,a shape-memory polymer composite,whose mechanical properties were ***,a mathematical model of the bending stiffness of the SMPC boom was developed,and the bending and buckling behaviors of the boom were further analyzed using the ABAQUS *** SMPC boom was fabricated to demonstrate its shape memory characteristics,and the driving force of the booms with varying geometric parameters was *** also designed and manufactured a reel-type solar array based on an SMPC boom and verified its self-deployment *** results indicated that the SMPC boom can be used as a deployable unit to roll out flexible solar arrays.

关键词： Shape memory polymer composite Reel-type solar array Deployable boom Bending behavior

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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3rd International Conference on Computer, Control and robotics, ICCCR 2023

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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