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Robust beam splitter with fast quantum state transfer through a topological interface

Frontiers of physics 2023年第5期18卷 293-309页

作者： Jia-Ning Zhang Jin-Xuan Han Jin-Lei Wu Jie Song Yong-Yuan Jiang Department of Optoelectronics Science Harbin Institute of TechnologyWeihai 264209China School of Physics Harbin Institute of TechnologyHarbin 150001China School of Physics and Microelectronics Zhengzhou UniversityZhengzhou 450001China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information TechnologyHarbin 150001China Key Laboratory of Micro-Optics and Photonic Technology of Heilongjiang Province Harbin Institute of TechnologyHarbin 150001China

The Su–Schrieffer–Heeger(SSH)model,commonly used for robust state transfers through topologically protected edge pumping,has been generalized and exploited to engineer diverse functional quantum ***,we propose to realize a fast topological beam splitter based on a generalized SSH model by accelerating the quantum state transfer(QST)process essentially limited by adiabatic *** scheme involves delicate orchestration of the instantaneous energy spectrum through exponential modulation of nearest neighbor coupling strengths and onsite energies,yielding a significantly accelerated beam splitting *** to properties of topological pumping and accelerated QST,the beam splitter exhibits strong robustness against parameter disorders and losses of *** addition,the model demonstrates good scalability and can be extended to two-dimensional crossed-chain structures to realize a topological router with variable numbers of output *** work provides practical prospects for fast and robust topological QST in feasible quantum devices in large-scale quantum information processing.

关键词： quantum state transfer beam splitter topological router

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Immobilized microalgal system:An achievable idea for upgrading current microalgal wastewater treatment

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Environmental Science and Ecotechnology 2023年第2期14卷 3-17页

作者： Meina Han Chaofan Zhang Shih-Hsin Ho State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090PR China

Efficient wastewater treatment accompanied by sustainable“nutrients/pollutants waste-wastewaterresources/energy nexus”management is acting as a prominent and urgent global issue since severe pollution has occurred *** wastes from wastewater into the value-added microalgalbiomass stream is a promising goal using biological wastewater treatment *** review proposed an idea of upgrading the current microalgal wastewater treatment by using immobilized microalgal ***,a systematic analysis of microalgal immobilization technology is displayed through an in-depth discussion on why using immobilized microalgae for wastewater ***,the main technical approaches employed for microalgal immobilization and pollutant removal mechanisms by immobilized microalgae are ***,from high-tech technologies to promote large-scale production and application potentials in diverse wastewater and bioreactors to downstream applications lead upgradation closer,the feasibility of upgrading existing microalgal wastewater treatment into immobilized microalgal systems is thoroughly ***,several research directions are proposed toward the future immobilized microalgal system for microalgal wastewater treatment ***,it appears that using immobilization for further upgrading the microalgae-based wastewater treatment can be recognized as an achievable alternative to make microalgal wastewater treatment more *** information and perspectives provided in this review also offer a feasible reference for upgrading conventional microalgae-based wastewater treatment.

关键词： Microalgae Immobilized microalgal system Biological wastewater treatment Removal mechanisms Technical upgrading

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Real-time Trajectory Planning for Redundant 7-dof Space Manipulators with Unknown Link Lengths

Real-time Trajectory Planning for Redundant 7-dof Space Mani...

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robotics, Control and Automation (ICRCA), International Conference on

作者： Jian Liu Zhiqi Li Shicai Shi Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditional algorithms struggle to establish the transformation between task space and joint space under such conditions, posing significant challenges to autonomous trajectory planning. This study proposes a novel trajectory planning method for a seven-degree-of-freedom redundant space manipulator with a shoulder-wrist offset. The method utilizes a trained pose control decision system to generate continuous, smooth, and singularity-free trajectories in real time, satisfying positional and orientational accuracy requirements for target capture. A neural network with strong nonlinear fitting capabilities is employed as the position control decision module for joints 1-4, trained using a "cautious exploration, greedy exploitation" strategy for efficient and safe trajectory optimization. For joints 5-7, an analytical orientation control decision module adjusts the end-effector’s attitude. Together, these modules form a pose control decision system that adheres to constraints on joint angular velocity, acceleration, and singularity avoidance. The proposed approach is validated through simulations in both static and dynamic scenarios, with simulation results confirming its effectiveness.

关键词： Accuracy Trajectory planning Simulation Position control Aerospace electronics Manipulators Control systems Real-time systems Angular velocity Manipulator dynamics

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A Microgravity Simulation Experimental Platform For Small Space Robots In Orbit

arXiv

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arXiv 2025年

作者： Luo, Hang Zhou, Nanlin Zhang, Haoxiang Han, Kai Zhao, Ning Yang, Zhiyuan Qi, Jian Zhao, Sikai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a microporous platform and glass. By supplying air to the microporous platform to form an air film, the influence of the weight of the air foot and the ventilation hose of traditional air-float platforms on microgravity experiments is solved. The contribution of this work is to provide a platform with less external interference for microgravity simulation experiments on small robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Microgravity processing

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yao Huang Haotian Ju Songhao Guo Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance.

关键词： Knee Legged locomotion Limbs Torque Measurement units Thigh Muscles Pressure measurement Torque measurement Robots

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking 11

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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11th International Conference on Mechatronics and robotics Engineering, ICMRE 2025

作者： Huang, Yao Ju, Haotian Guo, Songhao Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798331509293

关键词： Neuromuscular rehabilitation

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Effect of trigger system on experimental dispersion characteristics of active surface wave testing

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Earthquake Engineering and Engineering Vibration 2024年第2期23卷 311-318页

作者： Lin Shibin Jeramy C.Ashlock Zhu Liming Qin Zexiang Li Bo Zhu Xingji Zhai Changhai State Key Laboratory of Precision Blasting Jianghan UniversityWuhan 430056China Hubei Key Laboratory of Blasting Engineering Jianghan UniversityWuhan 430056China Department of Civil Construction&Environmental EngineeringIowa State UniversityAmesIA 50010USA Wuhan Airport Road Development Co. Ltd.Wuhan 430065China School of Civil and Environmental Engineering Harbin Institute of TechnologyShenzhen 518055China Key Lab of Structures Dynamic Behavior and Control of the Ministry of Education Harbin Institute of TechnologyHarbin 150090China Key Lab of Smart Prevention and Mitigation of Civil Engineering Disaster of the Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbin 150090China

A trigger system is typically employed in active seismic testing to trigger and synchronize multichannel surface wave data *** effect of the trigger system on the dispersion image of surface waves is empirically known to be negligible,however,theoretical explanation regarding the effect of the trigger system is *** study systematically examines the theory for surface wave dispersion analysis and proves that the effect of the trigger system on a dispersion image is negligible via a solid theoretical ***,based on the new theoretical explanation,an alternative method that uses only the relative phase difference between sensors to extract dispersion characteristics with better conceptual clarity is *** active surface wave testing cases are considered to validate the theory and *** results indicate that(1)an accurate trigger system is not necessary for surface wave data acquisition,and(2)it is unnecessary to assume that the impact point is the generation point of the surface waves for the experimental dispersion analysis.

关键词： site investigation surface waves data acquisition dispersion

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A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated Control system

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Research 2021年第1期2021卷 1266-1273页

作者： Pengchun Li Yongchang Zhang Guangyu Zhang Dekai Zhou Longqiu Li State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbinHeilongjiang 150001China

Tip-extending soft robots,taking flexible film or rubber as body material and fluid pressure as input power,exhibit excellent advantages in constrained and cluttered environments for detection and ***,existing soft continuum robots are of great challenges in achieving multiple,mutually independent,and on-demand active steering over a long distance without precise steering *** this paper,we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three ***,steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided,and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is *** demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained *** is established that the robot exhibits great advantages in active consecutive steering over a long distance,high controllability in completing more complex path planning,and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle *** bionic soft robot shows great promise for use in environment sensing,target detecting,and equipment servicing.

关键词： robot Robot obstacle

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A novel co-catalyzed system between persulfate and chlorite by sonolysis for removing triphenylmethane derivative

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Journal of Environmental Sciences 2022年第2期34卷 291-306页

作者： Qihui Xu Haoran Leng Hong You Shutao Wang Haoyang Li Yibo Yu State Key Laboratory of Urban Water Resources and Environment Harbin Institute of TechnologyHarbin 150090China School of Environment Harbin Institute of TechnologyHarbin 150090China School of Marine Science and Technology Harbin Institute of Technology at WeihaiWeihai 264209China

Triphenylmethane(tpm) derivatives(e.g. tpm CV) have threatened the safety of the aquatic environment due to the potential toxicity and carcinogenicity. In this study, the novel ultrasonic/persulfate/chlorite(US/S_(2)O_(8)^(2-)/ClO_(2)^(-)) oxidation process was developed for the effective removal of tpm CV in wastewater. The apparent non-integer kinetics( n around 1.20) of tpm CV degradation under different factors( R^(2)_(Adj) > 0.990) were investigated, respectively. Inhibiting effects of anions were greater than those of cations(except Fe(Ⅱ/Ⅲ)). The adding of micromolecule organic acids could regulate degradation towards positive direction. The double response surface methodology(RSM) was designed to optimize tpm CV removal process, and the acoustic-piezoelectric interaction was simulated to determine the propagation process of acoustic wave in the reactor. The possible degradation pathway was explored to mainly include carbonylation, carboxylation, and demethylation. The estimated effectivemean temperature at the bubble-water interface was calculated from 721 to 566 K after introducing the ClO_(2)^(-), however, the adsorption or partitioning capacity of tpm CV in the reactive zone was widened from 0.0218 to 0.0982. The proposed co-catalysis of US/S_(2)O_(8)^(2-)/ClO_(2)^(-)was based on the determined active species mainly including ClO_(2), SO_(4)·^(-), and ·OH. Compared with other US-based processes, the operating cost(3.97 $/m^(3)) of US/S_(2)O_(8)^(2-)/ClO_(2)^(-)with the EE/O value(16.8 k Wh/m^(3)) was relatively reduced.

关键词： Ultrasonic/Persulfate/Chlorite Non-integer kinetics Simulation Degradation mechanism Co-catalysis

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The Occluded Prosthetic Hand can be Perceived based on Augmented Reality technology

The Occluded Prosthetic Hand can be Perceived based on Augme...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Shi, Chunyuan Wang, Zixin Yang, Dapeng Zhao, Jingdong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Harbin Institute of Technology Artificial Intelligence Laboratory Harbin150081 China

ISBN: (纸本)9781665481090

In this paper, an augmented reality-based perceptual feedback method of dexterous prosthesis has been proposed, which can establish an intuitive and convenient feedback pathway and reduce the use load of prosthetic hands. The proprioception and force feedback strategy was proposed and established based on augmented reality technology. Finally, the effectiveness and feasibility of the above strategies are verified by experiments. First, the feasibility of the proprioception feedback strategy is tested, and then the force feedback strategy is tested. The experimental results show that the proposed method establishes an effective perceptual feedback closed-loop control, improving patients' cognition of the prosthesis, including force, grasping gestures and other information, and improving users' perception ability. © 2022 IEEE.

关键词： Augmented reality

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