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High-density, high-frequency and large-scale electrohydrodynamic drop-on-demand jetting via a protruding polymer-based printhead design

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Microsystems & Nanoengineering 2024年第6期10卷 267-277页

作者： Yongqing Duan Weili Yang Qiming Wang Zhaoyang Sun Haoyu Guo Zhouping Yin State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina

Electrohydrodynamic(EHD)printing has critical merits in micro/nanoscale additive manufacturing because of its ultrahigh resolution and wide ink compatibility,making it an advantageous choice for electronics manufacturing,high-resolution prototyping,and biological component ***,EHD printing is currently limited by its rather low throughput due to the lack of high-frequency and high-density multi-nozzle *** paper presents a novel EHD printhead with a protruding polymer-based nozzle *** insulated,hydrophobic,and protruding polymer nozzle array with an appropriate geometric structure can effectively address key problems in multi-nozzle jetting,such as electrical crosstalk,electrical discharge,liquid flooding,and nonuniform *** investigating the influence of the electrical and geometric characteristics of the nozzle arrays on the electrical crosstalk behavior and fabricating the optimized nozzle array via MEMS technology,we achieve an EHD printhead with a large scale(256),high density(127 dpi),and high jetting frequency(23 kHz),and addressable jetting can be realized by adding independently controllable extractors underneath the nozzle *** functional materials,such as quantum dots,perovskite,and nanosilver inks,can be ejected into high-resolution patterns through the optimized nozzle array,demonstrating the great prospects of our designed printhead in electronics *** MEMS-compatible printhead design lays the foundation for high-throughput fabrication of micro/nanostructures and promotes practical applications of EHD printing in functional electronics and biomedical/energy devices.

关键词： printing nozzle electronics

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Low-frequency chatter suppression in robotic milling using Magnetorheological Joint Damper(MRJD)

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Chinese Journal of Aeronautics 2025年第3期38卷 521-543页

作者： Shihao XIN Xiaowei TANG Jiawei WU Fangyu PENG Rong YAN Kai SUN School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Low-frequency structural vibrations caused by poor rigidity are one of the main obstacles limiting the machining efficiency of robotic *** vibration suppression strategies primarily focus on passive vibration absorption at the robotic end and feedback control at the joint *** these strategies have a certain vibration suppression effect,the limitations of robotic flexibility and the extremely limited applicable speed range remain to be *** this study,a Magnetorheological Joint Damper(MRJD)is *** joint-mounted feature ensures machining flexibility of the robot,and the millisecond response time of the Magnetorheological Fluid(MRF)ensures a large effective spindle speed *** importantly,the evolution law of the damping performance of MRJD was revealed based on a low-frequency chatter mechanism,which guarantees the application of MRJD in robotic milling *** analyze the influence of the robotic joint angle on the suppression effect of the MRJD,the joint braking coefficient and end braking coefficient were *** coordinate plots were used to visualize the joint range with the optimal vibration suppression ***,a combination of different postures and cutting parameters was used to verify the vibration suppression effect and feasibility of the joint angle *** experimental results show that the MRJD,which directly improves the joint vibration resistance,can effectively suppress the low-frequency vibration of robotic milling under a variety of cutting conditions.

关键词： Magnetorheological fluids Joint damper Vibration suppressioni Low-frequency chatter Robotic milling

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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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Dynamic Response Analysis of A Floating Photovoltaic system with Different Mooring Arrangements in An Area with Large Tidal Variations

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China Ocean Engineering 2024年第6期38卷 1057-1070页

作者： XU Wan-hai SUN Yu-meng HE Zi-qi ZHANG Xin-rui GAO Xi-feng LIU Run State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation Tianjin UniversityTianjin 300350China Institute of Ocean Energy and Intelligent Construction Tianjin University of TechnologyTianjin 300384China

To address the mooring issues of floating photovoltaic systems in areas with large tidal variations,three mooring schemes were designed and compared in this paper:anchor chain,anchor chain with added weights,and anchor chain with *** model was established via the numerical simulation tool Orcaflex,which considers the combined effects of wind,waves,and currents.A time-domain coupled dynamic analysis was conducted on the performance of the three mooring schemes under various tidal conditions to determine the mooring cable tension and platform motion ***,the mooring system with an anchor chain and Superflex was optimized,with a focus on analyzing the effects of the Superflex length,the diameter of the anchor chains,and the mooring *** mooring system with the anchor chain and Superflex exhibits more controllable and stable mooring performance in areas with large tidal variations,so that it more effectively maintains the required mooring tension *** findings not only provide a reference for the feasibility and optimization design of photovoltaic systems in areas with large tidal variations but also offer valuable experience for the sustainable application of clean energy under specific environmental conditions.

关键词： floating photovoltaic large tidal variation mooring system dynamic analysis Orcaflex

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Dynamics of three ferrofluid droplets in a rotating magnetic field

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Applied Mathematics and Mechanics(English Edition) 2025年第3期46卷 591-600页

作者： Xinping ZHOU Wencai XIAO Qi ZHANG Chunyue LIANG Wanqiu ZHANG Fei ZHANG School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Two-dimensional(2D)direct numerical simulations on the dynamics of three identical ferrofluid droplets suspended in a non-magnetic ambient fluid under a rotating uniform magnetic field are conducted,and the motion and deformation of the three ferrofluid droplets are studied in this *** show that there are four modes(i.e.,the three droplets'direct coalescence(TC),the coalescence of two droplets and the subsequent planetary motion with the third droplet(CAP),the three droplets'planetary motion(TP),and the independent spin(IS))for the three ferrofluid droplets,dependent on the magnetic Bond number(Bom)and the initial distance(d0)between two of the *** is found that the decrease in d0and the increase in Bomcan make the droplets'mode change from the IS to the planetary motion,and then turn to the ***,reducing Bomor d0is helpful for the droplets to become merged.

关键词： ferrofluid droplet rotating magnetic field capillary force

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Prototype Enhancement-Based Incremental Evolution Learning for Urban Garbage Classification

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第1期5卷 398-411页

作者： Han, Honggui Fan, Xiaoye Li, Fangyu Beijing University of Technology Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Institute of Artificial Intelligence Beijing100124 China

Deep neural network (DNN) based on incremental learning provides support for efficient garbage classification tasks. However, it is always challenging to accurately learn and preserve the information of known classes for updating DNN while new tasks are continuously emerging, which also affects the generalization performance of the model. To solve these issues, an incremental evolution learning (IEL) method based on prototype enhancement is proposed to accurately preserve data and improve the model generalization ability. First, a prototype enhancement method based on multidimensional Gaussian kernel density estimation is designed, which extends the prototype of each sample based on high-dimensional nonlinear data distribution. Then, the prototype enhancement accurately represents the known class data. Second, a contrastive feature method is proposed to constrain the consistency of features between tasks, which reduces the deviation between different tasks. Then, the extraction preference caused by the class sample imbalance is balanced and the generalization ability is improved. Third, the proposed IEL is used for garbage classification with imbalanced class samples. IEL implements garbage classification by effectively adapting to the differences between known classes and new classes. Finally, experiments on four standard datasets and one public garbage dataset verify that IEL has a strong classification ability in the learning tasks with the increasing number of classes. © 2020 IEEE.

关键词： Deep neural networks

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D-FUSION SLAM: A VSLAM system OPTIMIZED BY INTEGRATING DEPTH INFORMATION AND RGBD FEATURE POINTS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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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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Bionic Jumping of Humanoid Robot via Online Centroid Trajectory Optimization and High Dynamic Motion Controller

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Journal of Bionic Engineering 2024年第6期21卷 2759-2778页

作者： Xiangji Wang Wei Guo Zhicheng He Rongchao Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Faculty of Computing Harbin Institute of Technology(HIT)Harbin150001China

The dynamic motion capability of humanoid robots is a key indicator for evaluating their ***,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured ***,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic *** idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid ***,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the ***,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s ***,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping *** control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of *** and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.

关键词： Humanoid robots Jumping motion control Centroid trajectory optimization Optimization and optimal control

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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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