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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Yi Tang, Junyue Liu, Yafang Ma, Gongbo Sun, Feng Li, Ye Jiang, Shengyuan Shenyang University of Technology Shenyang China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing China Beijing China

ISBN: (纸本)9798350325706

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler's docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests. © 2023 IEEE.

关键词： Lunar exploration Repeated transfer Sample type sampler's docking sealing force

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A wood pulp sponge cleaning wipe as a high-performance bioanode material in microbial electrochemical systems for its vast biomass carrying capacity,large capacitance,and small charge transfer resistance

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Journal of Materials Science & technology 2024年第14期181卷 1-10页

作者： Pinpin Yang Yaqian Gao Weihua He Jingkun An Jia Liu Nan Li Yujie Feng School of Environmental Science and Engineering Academy of Ecology and EnvironmentTianjin University300072 TianjinChina State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China

Microbial electrochemical systems are a promising green and sustainable technology that can transform waste into *** conversion efficiency and lowering system costs,particularly for elec-trodes,are the primary directions that promote practical *** sponges made from wood pulp have been industrially mass-produced in various application scenarios due to their porosity and green *** this study,the three-dimensional(3D)porous cellulose sponges carbon(CSC)was obtained by directly carbonizing cellulose sponges at different temperatures(600,700,800,900,1000,and 1100℃).It has been successfully used as a high-performance anode in microbial fuel cells(MFCs).The carbonization temperature significantly impacted the materials’specific surface area,con-ductivity,and *** greater the anode material’s carbonization temperature,the lower the charge transfer resistance and the higher the maximum power density(CSC-1100,4.1±0.1 W m^(-2)).The CSC-700's maximum power density(3.62±0.11 W m^(-2))was the highest power density reported to date among lignocellulose-based anodes with relatively low energy *** pleated multilayer porous surface promotes microbial adhesion and can build thicker biofilms with the highest biomass of 2661±117μg cm^(-2)(CSC-1100)and containing 86%electrogenic bacteria(Geobacter).To investigate the effect of conducting polymers on the material’s surface,we introduced polyaniline and *** found that the CSC-1000/PPy bioanodes produced a maximum power density(4.18±0.05 W m^(-2)),slightly higher than of without polypyrrole-modified(CSC-1000,3.99±0.06 W m^(-2)),indicating that the CSCs anode surface had excellent electron transfer efficiency and could achieve the same amount of energy as the polypyrrole *** study introduced a promising method for fabricating high-performance anodes using low-cost,industrialized,and sustainable materials.

关键词： Polyaniline Polypyrrol Capacitance anode Electrogenic biofilms Extracellular electron transfer

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Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

Wheel's Slip Ratio and Sinkage Estimation for Planetary Rove...

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2021 International Conference on robotics Automation and Intelligent Control, ICRAIC 2021

作者： Yang, Huaiguang Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers. © 2022 institute of Physics Publishing. All rights reserved.

关键词： Rovers

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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年第6期29卷 4401-4414页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 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-tracking 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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Recent Advances in Twisted and Coiled Artificial Muscles and Their Applications

SmartBot

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SmartBot 2025年第1期1卷 121-140页

作者： Jin Sun Shijing Zhang Jie Deng Jing Li Dehong Wang Junkao Liu Yingxiang Liu State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbinChina

Twisted and coiled artificial muscles(TAMs)have been extensively studied in the field of soft robots due to their exceptional properties,including high energy density,large load-to-weight ratio,large deformation,low driving voltage,and low *** advancements of TAMs hold the potential for enhancing the performance and broadening their functional capabilities of soft robots,thus demonstrating substantial practical *** review outlines the recent progress in TAMs and their diverse applications in soft ***,the commonly used materials to fabricate TAMs,including inorganic fibers,composite fibers,organic fibers,and natural fibers,are discussed along with their ***,the actuation strategies are summarized across four aspects:thermal method,solvent method,electrochemical method and other non-contact ***,the configurations of TAMs are classified into single,parallel and braided *** addition,various soft robots driven by TAMs are introduced according to their functions,including manipulation,locomotion,smart textile,and ***,the research hotspots and development trends of TAMs are *** is expected that this review article can serve as a valuable reference and source of inspiration for researchers in the field of soft actuators and robots.

关键词： actuation strategies artificial muscles soft actuator soft robots

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Kirigami-inspired continuum soft arm with embedded sensing for non-destructive inspection and sorting

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Science China Materials 2025年第2期68卷 552-560页

作者： Jinsui Xu Boyi Xu Honghao Yue Yifan Lu Zheping Wang Zongquan Deng Fei Yang State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China Wu Xianming School of Intelligent Engineering South China University of TechnologyGuangzhou 510641China

The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

关键词： kirigami embedded sensing continuous soft arm non-destructive inspection

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Effective peroxydisulfate activation by CQDs-MnFe_(2)O_(4)@ZIF-8 catalyst for complementary degradation of bisphenol A by free radicals and non-radical pathways

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Chinese Chemical Letters 2024年第5期35卷 371-379页

作者： Shuo Li Xinran Liu Yongjie Zheng Jun Ma Shijie You Heshan Zheng College of Chemistry and Chemical Engineering Qiqihar UniversityQiqihar 161006China State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China

The present study reported fabrication of novel carbon quantum dots-MnFe_(2)O_(4)@ZIF-8(CQDs-MFO@ZIF-8)by using co-precipitation hydrothermal method for activation of peroxydisulfate(PDS)to degrade bisphenol A(BPA),one of important emerging organic pollutants in water ***-MFO@ZIF-8 served as a highly efficient thermal activated PDS catalyst with high catalytic degradation efficiency,reusability and *** catalyst achieved almost completely removal of 20.0 mg/L BPA within 5.0 min,and the degradation efficiency remained higher than 83%after 5 consecutive *** radicals(^(·)OH,SO_(4)^(·-)and^(·)O_(2)^(-))and non-free radicals((1)O_(2))were generated in the thermal PDS-activation system,in which singlet oxygen((1)O_(2))played a dominant role in the degradation of *** potential toxicity of BPA degradation intermediates was analyzed upon the culture of *** and Chlorella sorokiniana by using Ecological Structure-Activity Relationship Model(ECOSAR)*** catalytic performances of BPA degradation by CQDs-MFO@ZIF-8 were evaluated for treatment of different practical water samples to further verify the feasibility of practical *** study provides proof-in-concept demonstration of new nanomaterials for enhanced catalytic water decontamination.

关键词： Bisphenol A Degradation Peroxydisulfate ^(1)O_(2) Toxicity analysis

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Diversity and dynamic response of anaerobic ammonia oxidation granular sludge

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Journal of Environmental Sciences 2025年第6期152卷 262-275页

作者： Jiahong Ye Xiang Li Yan Yuan Yayi Wang Yong Huang JunMa Han Wang Pengze Dang Pei-ling Xu School of Environmental Science and Engineering Suzhou University of Science and TechnologySuzhou 215009China State Key Laboratory of Pollution Control and Resources Reuse Shanghai Institute of Pollution Control and Ecological SecurityCollege of Environmental Science and EngineeringTongji UniversityShanghai 200092China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin 150090China

Red anaerobic ammonia oxidation (Anammox) granular sludge (AnGS) has been reported insuccessfully operating Anammox systems, and its color is associated with sludge ***, in long-term operating systems, AnGS exhibits different sensory colors, physicalstructures, community structures, and denitrification performance, but the relationship betweenthem has not yet been *** AnGS of the Anammox system, which has beenin operation for more than a decade, can be divided into twomain categories: red and *** specific Anammox activity (SAA) in conventional red AnGS increased continuously asthe particle size increased from <0.51 mm to 6.02 ± 0.84 mm. The SAA of white AnGS wereslightly lower than those of red AnGS with similarly-size granules but significantly higherthan AnGS with smaller red granules. Compared with red AnGS, the extracellular polymericsubstances of white AnGS were significantly reduced,mainly due to the higher intracellulariron content, resulting in lower heme c concentration. Thus, heme c may prove not to bean evaluative tool for measuring Anammox activity. Red and white AnGS, whether throughself-aggregation or adsorption by hydroxyl apatite and other carriers, will face the fate ofinternal voids during particle size growth. White AnGS exhibited amore complex microbialcommunity than red AnGS. Candidatus Brocadia was abundant in red AnGS and the abundanceincreased with increasing granule size. Candidatus Kuenenia and Candidatus Jetteniamade significant contributions to denitrification in white AnGS. This study provides a newperspective on particle selection for anammox engineering applications.

关键词： Anaerobic ammonium oxidation granular sludge Sensory diversity Intracellular iron Heme Enzyme activity Microbial diversity

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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Augmented machine learning for sewage quality assessment with limited data

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Environmental Science and Ecotechnology 2025年第1期23卷 193-203页

作者： Jia-Qiang Lv Wan-Xin Yin Jia-Min Xu Hao-Yi Cheng Zhi-Ling Li Ji-Xian Yang Ai-Jie Wang Hong-Cheng Wang State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090China School of Civil and Environmental Engineering Harbin Institute of Technology ShenzhenShenzhen518055China College of the Environment Liaoning UniversityShenyang110036China

Physical,chemical,and biological processes within sewers significantly alter sewage composition during *** leads to the formation of sulfide and methanedcompounds that contribute to sewer corrosion and greenhouse gas *** modeling of these compounds is essential for effective sewer management,but the development of machine learning(ML)models is hindered by differences in data accessibility and sampling frequencies of water quality *** we present a mechanistically enhanced hybrid(ME-Hybrid)model that combines mechanistic modeling with data-driven *** model harmonizes datasets with varying sampling frequencies and generates synthetic samples for ML training,thereby enhancing the monitoring of methane and sulfide in *** optimal MEHybrid model integrates the backpropagation neural network with mechanistic frequency *** demonstrate that the ME-Hybrid model outperforms pure ML and linear interpolation in capturing fluctuating trends and extremes of sulfide concentrations,achieving a coefficient of determination(R2)of *** samples generated through mechanistic augmentation closely approximate real samples in modeling performance,statistical distribution,and data *** enables the model to maintain high predictive accuracy(R2>0.76)for sulfide even when trained on only 50%of the ***,the ME-Hybrid model successfully assesses sewer methane concentrations with an R2 of 0.94,validating its applicability and generalization *** results provide a reliable methodological framework for modeling and prediction under data *** facilitating better monitoring and management of sewer systems,the ME-Hybrid model aids in the development of strategies that minimize environmental impacts,enhance urban resilience,and ultimately lead to sustainable urban water systems.

关键词： Machine learning Hybrid model Mechanistic augmentation Sewer system Sulfide and methane

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