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Modeling and design of 3D printed hyperelastic lattice metamaterials with bionic S-shaped stress-strain behaviors

Materials Horizons 2025年

作者： Dong, Le Zhang, Mengjie Wang, Dong State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

Lattice metamaterials made of stiff polymers, ceramics, and metals have been extensively designed to reproduce the mechanical behaviors of biological tissues, holding promising applications in biomedical devices and tissue engineering. However, lattice metamaterials composed of soft materials have been far less explored due to challenges posed by material nonlinearity and large deformations. Here, hyperelastic lattice metamaterials with curved microstructures are fabricated by 3D printing elastomers and are developed to mimic bionic S-shaped stress-strain behaviors. We propose a design framework for 3D printed hyperelastic lattice metamaterials that integrates digital geometry generation, hierarchical mechanics modeling, and validation by finite element (FE) simulations and experiments. The microstructures are modeled through deriving a Timoshenko-type beam theory governed by hyperelastic strain energy potentials. The model is then combined with the deformation and equilibrium analysis considering non-rigid connections between microstructures to predict the mechanical responses of hyperelastic lattice metamaterials. Using the developed design framework, programmable S-shaped stress-strain behaviors and high fracture strains (over 800%) are achieved. We demonstrate S-shaped stress-strain curves that match skeletal and cardiac muscles and highly stretchable lattice sensors for remote controls. This study provides design methods and theoretical guidelines for hyperelastic lattice metamaterials, holding promise for robotic sensors with bionic performance and functionality. © The Royal Society of Chemistry 2025.

关键词： Stress-strain curves

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Centra-Net: A Centralized Network for Visual Localization Spanning Multiple Scenes

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IEEE Transactions on Multimedia 2025年

作者： Jiang, Zhiqiang Dai, Kun Wang, Ke Xie, Tao Fan, Zhendong Li, Ruifeng Kang, Peng Zhao, Lijun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150006 China Harbin Institute of Technology Zhengzhou Research Institute Zhengzhou450000 China Jianghuai Advance Technology Center Hefei230000 China

We present Centra-Net, a centralized network that concurrently optimizes visual localization over numerous scenes under heterogeneous dataset domains. Centra-Net exemplifies storage efficiency by amalgamating multiple models with task-shared parameters into a singular cohesive structure. Technically, we develop a basic feature extraction unit (BFEU) with two parallel branches: one dedicated to local feature extraction and the other adept at adaptively generating a task-specific attention mask for feature calibration, thus bolstering its feature extraction capability across diverse scenes. Based on the BFEU, we introduce a filter-wise sharing mechanism (FSM) that adaptively determines parameter sharing within the unit, thus facilitating fine-grained parameter allocation. The key insight of FSM resides in reconceptualizing the parameter sharing of the unit as a learnable paradigm, enabling the determination of shared parameters to be made post-training. Finally, we suggest a complexity-prioritized gradient algorithm (CPGA) that capitalizes on task complexity to attain a harmonious learning space for various tasks, thus safeguarding optimal performances across all tasks. Through rigorous experiments on numerous benchmarks, Centra-Net demonstrates a notable edge over existing state-of-the-art works while operating with a significantly reduced parameter footprint. © 1999-2012 IEEE.

关键词： Deep learning Feature extraction Task complexity Visual localization

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Exploring Eye-tracking based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

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IEEE Journal of Biomedical and Health Informatics 2025年 PP卷 PP页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye movement features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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Study on wear mechanism of small ball-end grinding wheel and surface integrity of complex component under high-speed machining condition

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Wear 2025年

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

The small ball-end fine diamond grinding wheel is well-suited for machining complex components with small curved surface structures, demonstrating high-precision and high-quality machining capabilities. By increasing the speed of the workpiece, the issue of poor grinding performance caused by the small diameter of the ball-end grinding wheel can be effectively overcome. However, this strategy inevitably increases wheel wear and affects surface integrity. To address these challenges, this paper systematically investigates the grinding characteristics of the small ball-end grinding wheel. First, grinding experiments were performed to investigate the influence of workpiece speed, feed rate, and grinding depth on the material removal rate, wheel wear, and surface integrity. Then, the wear mechanism of the grinding wheel was analyzed. The wear modes of the grinding wheel at high workpiece speeds include metal adhesive wear and abrasive grain fracture, which enhance the self-sharpening of the grinding wheel while accelerating its wear. Furthermore, the surface morphology creation mechanism of fused silica under different material removal modes was revealed. Moreover, the correlation between material removal rate and surface roughness caused by wheel wear was revealed. A high-speed grinding strategy was subsequently proposed based on the relationship between the grinding characteristics and grinding parameters of the small ball-end grinding wheel under various grinding conditions. Finally, the feasibility of this grinding strategy was validated through its application to the machining of the complex curved fused silica hemispherical resonator (HSR). Experimental results indicate that under the high workpiece speed condition, the best surface roughness of HSR decreases from 90.5 nm to 62.2 nm, while the maximum grinding wheel wear increases from 9.7 μm to 11.5 μm, with minimal impact on surface integrity. Therefore, the high-speed grinding strategy proposed in this study ho

关键词： Fused silica

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Ultrahigh Energy Density and Rapid Response Dielectric Elastomer for Advanced Soft Robots

SSRN

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SSRN 2025年

作者： Du, Chengzhen Yan, Peinan Zou, Jiang Guo, Yutong Pang, Zimo Li, Sijia Chen, Yujie Fan, Qunfu Liu, Hezhou State Key Laboratory of Metal Matrix Composites School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China National Engineering Research Center of Special Equipment and Power System for Ship and Marine Engineering Shanghai200030 China

Dielectric elastomer actuators (DEAs) require high energy density to simultaneously achieve high mechanical output while enabling compact and lightweight actuator design. However, the realization of high energy density is constrained by the high driving electric field and the significant hysteretic relaxation. Herein, we present a DE featuring a bimodal-network structure and multiple hydrogen bond interactions, which possesses outstanding properties, including a low Young's modulus, optimal dielectric properties, and low mechanical loss. The DE achieves a maximum actuation strain of 200% at a low driving electric field of 60 V μm-1 with a rapid response. Remarkably, it exhibits an output force of 0.95 N and an ultrahigh specific energy of 283 J kg-1, approximately 7 times that of natural muscle. A series of soft robots with different structures and functions are fabricated to showcase the immense potential of our DE in various applications. This work provides a novel strategy to fabricate high performance artificial muscles for soft robotics. © 2025, The Authors. All rights reserved.

关键词： Elastomers

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Lunar regolith simulant-derived 3D-printed geopolymers with optimized mechanical and thermal management properties

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Composites Part A: Applied Science and Manufacturing 2025年 196卷

作者： Sun, Yifan Ma, Siqi Chen, Qingze Chen, Guoliang He, Peigang Wang, Yaming Qiu, Jun Jia, Dechang School of Energy Science and Engineering Key Laboratory of Aerospace Thermophysics Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Institute for Advanced Ceramics Key Laboratory of Advanced Structure-Function Integrated Materials and Green Manufacturing Technology Harbin Institute of Technology Harbin150080 China Guangdong Provincial Key Laboratory of Mineral Physics and Materials Guangzhou Institute of Geochemistry Chinese Academy of Sciences Guangzhou510460 China

Lunar soil, as an in-situ resource, holds significant potential for constructing bases and habitats on the Moon. However, such constructions face challenges including limited mechanical strength and extreme temperature fluctuations ranging from −170 °C to +133 °C between lunar day and night. In this study, we developed a 3D-printed geopolymer derived from lunar regolith simulant with an optimized zig-zag structure, exhibiting exceptional mechanical performance and thermal stability. The designed structure achieved remarkable damage tolerance, with a compressive strength exceeding 12.6 MPa at ∼ 80 vol% porosity and a fracture strain of 3.8 %. Finite element method (FEM) simulations revealed that the triangular frame and wavy interlayers enhanced both stiffness and toughness. Additionally, by incorporating strategically placed holes and extending the thermal diffusion path, we significantly improved the thermal insulation of the structure, achieving an ultralow thermal conductivity of 0.24 W/(m K). Furthermore, an iron-free geopolymer coating reduced overheating under sunlight by 51.5 °C, underscoring the material's potential for space applications. © 2025 Elsevier Ltd

关键词： Compressive strength

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Practical Applicability of PLA for Industrial Wireless Networks: Gaps and Directions

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IEEE Network 2025年

作者： Liang, Wei Wei, Fuyou Wang, Qi Zhan, Ming Wang, Ke Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shandong Normal University Jinan250014 China Taizhou University School of Electronics and Information Engineering Zhejiang Taizhou China

The rapid transformation of Industrial Cyber-Physical system (ICPS) has introduced significant cyber security challenges, particularly in the context of ICPS. Wireless networks are a critical component of these systems, but their open nature makes them vulnerable to security threats. Physical Layer Authentication (PLA) algorithms based on Channel state Information (CSI) are essential complements to existing security technologies in wireless networks. However, their practical application faces challenges such as restricted sampling rates and uneven sampling interval, which result in low-precision CSI, significant random phase offsets, and signal distortion. This study aims to explore the feasibility of deploying and applying existing representative algorithms on industrial wireless commercial devices. According to characteristics of authentication algorithms and the adopted authentication features, we selected five of the latest physical layer authentication algorithms including supervised, semi-supervised, and unsupervised algorithms and deployed them on commercial devices that comply with the WIA-FA standard. We conducted systematic experiments focusing on the motion parameters of devices, the CSI data sampling frequency, the interference caused by worker movement, the surface materials of the devices, and the types of attacks. This study explores the ability of these algorithms to resist attacks and environmental interference in commercial devices and industrial scenarios. Extensive experimental data were collected, and the results indicate that existing authentication algorithms still need improvement to meet the requirements of industrial applications. The experiment findings and the summarized application challenges of these algorithms provide significant guidance for future research and practical industrial implementations. © 1986-2012 IEEE.

关键词： Authentication

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SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting

arXiv

引用

arXiv 2025年

作者： Yang, Linqi Zhao, Xiongwei Sun, Qihao Wang, Ke Chen, Ao Kang, Peng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China Shenzhen518071 China Jianghuai Advance Technology Center Hefei230000 China

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and susceptibility to rotational ambiguity, while approaches requiring depth sensors or multi-view setups incur significant deployment costs. To address these limitations, we introduce SplatPose, a novel framework that synergizes 3D Gaussian Splatting (3DGS) with a dual-branch neural architecture to achieve high-precision pose estimation using only a single RGB image. Central to our approach is the Dual-Attention Ray Scoring Network (DARS-Net), which innovatively decouples positional and angular alignment through geometry-domain attention mechanisms, explicitly modeling directional dependencies to mitigate rotational ambiguity. Additionally, a coarse-to-fine optimization pipeline progressively refines pose estimates by aligning dense 2D features between query images and 3DGS-synthesized views, effectively correcting feature misalignment and depth errors from sparse ray sampling. Experiments on three benchmark datasets demonstrate that SplatPose achieves state-of-the-art 6-DoF pose estimation accuracy in single RGB settings, rivaling approaches that depend on depth or multi-view images. Copyright © 2025, The Authors. All rights reserved.

关键词： Gaussian distribution

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Influences of the ambient humidity and temperature on the material removal and wear behaviors on the soft-brittle KDP optics lithographed by the AFM probes

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Wear 2025年

作者： Chen, Guang Cheng, Jian Zhao, Linjie Chen, Mingjun Ding, Wenyu Lei, Hongqin Liu, Qi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China Centre for Precision Manufacturing DMEM University of Strathclyde GlasgowG1 1XJ United Kingdom

KDP (K2HPO4) crystals possess excellent nonlinear electro-optical properties and are often employed as Pockels cells and frequency converters. Ink-free DPN (IF-DPN) provides a promising method to lithograph surface nano-patterns in KDP optics to improve their laser damage resistances. However, material removal and wear behaviors are greatly affected by humidity and temperature. In this work, theoretical analyses at atomic- and electronic-scales are performed based on molecular dynamics and ab initio to study lithography behaviors (indentation and scratching) for IF-DPN. Lithography experiments with different humidity and temperatures are also executed on KDP substrate, which align well with theoretical results. During indentation processes, surface materials are squeezed into substrate, leading to deep subsurface damages and significant material recoveries. While the scratching processes would cause intense surface material stripping, and sharp-edge of AFM probe facilitates this process. Numerous K-related chemical structure defects would emerge during the lithography processes, which is the predisposition of microstructure change inside KDP crystal. The binding processes of AFM probe, water, and KDP crystal are spontaneous exothermic reactions. Bonding reactions of Si-O, Si-H, and O-H covalent bonds would expedite the wear of AFM probe and KDP crystal. The humidity affects lithography behaviors mainly through chemical dissolution actions, reducing surface integrity and structural strength of KDP crystal and facilitating material stripping. The high humidity would intensify the hydroxylation reaction occurring on AFM probe and KDP crystal surfaces, enhancing their hydrophilicity. The high temperature would result in a reduction of the condensed water meniscus and adsorbed water film, weakening chemical actions of IF-DPN. But it is beneficial for the penetration of AFM probe into KDP crystal surface, material stripping, and minimization of subsurface damages. The hig

关键词： Molecular dynamics

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Optimizing the Qusai-static Folding and Deploying of Thin-Walled Tube Flexure Hinges with Double Slots

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Chinese Journal of Mechanical Engineering 2014年第2期27卷 279-286页

作者： YANG Hui DENG Zongquan LIU Rongqiang WANG Yan GUO Hongwei State Key Laboratory of Robotics and System Harbin Institute of Technology

The thin-walled tube flexure（TWTF） hinges have important potential application value in the deployment mechanisms of satellite and solar array, but the optimal design of the TWTF hinges haven＇t been completely solved, which restricts their applications. An optimal design method for the qusai-static folding and deploying of TWTF hinges with double slots is presented based on the response surface theory. Firstly, the full factorial method is employed to design of the experiments. Then, the finite element models of the TWTF hinges with double slots are constructed to simulate the qusai-static folding and deploying non-linear analysis. What＇s more, the mathematical model of the TWTF flexure hinge quasi-static folding and deploying properties are derived by the response surface method. Considering of small mass and high stability, the peak moment of quasi-static folding and deploying as well as the lightless are set as the objectives to get the optimal performances. The relative errors of the objectives between the optimal design results and the FE analysis results are less than 7%, which demonstrates the precision of the surrogate models. Lastly, the parameter study shows that both the slots length and the slots width both have significant effects to the peak moment of quasi-static folding and deploying of TWTF hinges with double slots. However, the maximum Mises stress of quasi-static folding is more sensitive to the slots length than the slots width. The proposed research can be applied to optimize other thin-walled flexure hinges under quasi-static folding and deploying, which is of great importance to design of flexure hinges with high stability and low stress.

关键词： design optimization quasi-static folding and deploying flexure hinges thin-walled tube response surface method,numerical simulation

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