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SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

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Characterization of electrode fouling during electrochemical oxidation of phenolic pollutant

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Frontiers of Environmental Science & Engineering 2021年第4期15卷 99-108页

作者： Xuefeng Liu Shijie You Fang Ma Hao Zhou State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin150090China Conservation Center Shanghai MuseumShanghai200231China

Electrode fouling is a problem that commonly occurs during electro-oxidation water *** study focused on identifying the fouling behavior of Pt electrode associated with the formation of polymeric layer during electro-oxidation of *** in situ electrochemical measurements and non-destructive observation of the electrode morphology were *** results demonstrated that the electrode fouling was highly dependent on thermodynamic process of electrode that was controlled by anode *** anode potential lower than 1.0 V vs SHE,the direct electro-oxidation caused the electrode fouling by the formation of polymeric *** fouling layer decreased the electrochemically active surface area from 8.38 cm^(2)to 1.57 cm^(2),indicated by the formation of polymeric film with thickness of 2.3µm,increase in mass growing at a rate of 3.26µg/cm^(2)/*** degree to which the anode was fouled was independent of anion in the *** comparison,at anode potential higher than 2.7 V vs SHE,the anions(e.g.,chloride)could exert a major influence to the behavior of electrode *** presence of chloride was shown to mitigate the fouling of electrode significantly through preventing the formation of polymeric film by active chlorine(e.g.,Cl•and Cl_(2))produced from anodic oxidation of *** chloride is the most abundant anionic species existing in both natural and engineered water system,this study not only offers a deep insight into the mechanism of electrode fouling,but also suggests strategies for anti-fouling in the presence of chloride in electro-oxidation process.

关键词： Electro-oxidation Electrode fouling Polymeric film Chloride ions

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Joint Optimization of Service Placement and Computation Offloading for Mobile Edge Computing

Joint Optimization of Service Placement and Computation Offl...

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2023 IEEE/CIC International Conference on Communications in China, ICCC 2023

作者： Liu, Huaizhe Wang, Zhizongkai Wu, Jiaqi Gao, Lin Harbin Institute of Technology The School of Electronics and Information Engineering The Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology Shenzhen China The Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9798350345384

Mobile Edge Computing (MEC) is emerging as a promising approach for enhancing the quality-of-service (QoS) of delay-sensitive applications in the B5G/6G era, via offloading certain computation tasks to the network edge that approximates to end-users. Existing researches on computation offloading in MEC mainly focused on the hardware resource constraint (e.g., CPU and storage) at the edge nodes, without considering the specific software service requirements of applications (e.g., runtime environment and operating system). In this work, we study the computation offloading for delay-sensitive applications under both constraints of hardware resources and software services, where each application can be offloaded to an edge node only if both the required hardware resources and software services have been deployed at that node. We formulate a Joint Service Placement and Computation Offloading (JSPCO) problem, aiming at minimizing the offloading delay cost and the service operation cost. The problem is challenging due to the inherent coupling between service placement and computation offloading. To solve the problem, we introduce several equivalent transformation methods that convert the original problem into a Mixed Integer Linear Programming (MILP) problem, which can be solved efficiently using classic algorithms. Simulation results show that our proposed joint optimization solution can reduce the total system cost, service operation cost, and UE delay cost by up to 63.06%, 62.90%, and 54.76%, respectively, compared to existing baseline solutions. © 2023 IEEE.

关键词： Computation offloading

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Experimental and Numerical Research on Droplet Drag Coefficient and Deformation Coefficient in Nuclear Power Plants 29

Experimental and Numerical Research on Droplet Drag Coeffici...

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2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Ru, Li Ruifeng, Tian Bowen, Chen Bo, Wang Harbin Engineering University Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9780791886502

There are many multiphase flow phenomena in steam generators (SG) of nuclear power plants (NPPs) and the movement of droplets affects the separation efficiency of dryers in SG. And the most important factor affecting droplet movement is drag force on droplet. Drag force coefficient (DRC) and deformation coefficient (DEC) as characterization coefficient of drag force have important research significance. In this paper, water and silicone oil are used as continuous phase and dispersed phase, respectively. Study on variation of the DRC when Re is in the range of 30-1200 is carried out. Firstly, the motion of droplets (MDs) of different sizes is visually studied by using the high-speed camera and images of MD is acquired. The droplet contour is recognized based on principle of boundary differentiation and the centroid coordinates of the droplet are determined, thus DRC and DEC are obtained. Besides, the relationship between DRC and DEC are researched. Additionally, Lattice Boltzmann Method (LBM) is used to simulate the droplet motion. The simulation results are compared with the experimental results, thus verifying the feasibility of LBM method to simulate the MD. The results show that when velocity of droplet (VD) is low, DRC is inversely proportional to VD. While VD is high, DRC is constant. When the droplet diameter (DD) is small, the final VD is proportional to DD, and when DD is large, the final VD is proportional to the square of DD. The DEC is linearly related to We. The larger the We, the smaller the DEC. Shan-Chen model of LBM is feasible for droplets with low Reynolds number (Re), while the simulation of droplets with high Re is the future prospect. © 2022 by ASME.

关键词： Numerical methods

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Study of an Improved STPMSM for Improving Linearity of Torque/Current 26

Study of an Improved STPMSM for Improving Linearity of Torqu...

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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Hu, Yusheng Chen, Bin Xiao, Yong Li, Xia Han, Xueqiu Li, Liyi Harbin Institute of Technology Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System GREE ELECTRIC APPLIANCES INC. of ZHUHAI Zhuhai China GREE ELECTRIC APPLIANCES INC. of ZHUHAI Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System Zhuhai China GREE ELECTRIC APPLIANCES INC. of ZHUHAI Zhuhai China Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350317589

Compared with interior permanent magnet synchronous motors (IPMSMs), the conventional spoke-type permanent magnet synchronous motors (STPMSMs) have a problem of poor linearity of torque. The main reason is that the working point of PMs for STPMSMs under load drops significantly. In response to this problem, this paper proposes an improved STPMSM. The article introduces the structure of the motor in detail, and compares the difference in linearity of torque for the improved STPMSM, conventional STPMSM and IPMSM. Finite element analysis (FEA) and experimental results show that the linearity of torque under heavy load for the improved STPMSM is improved significantly, and the output capacity of torque is enhanced. © 2023 IEEE.

关键词： Torque

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The long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. The synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. The result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. Thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. The electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. This technology can be applied in pipeline surveillance in the future.

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Design of a Mesh Crawling Robot with Beetle-Inspired Variable Stiffness Tarsus

Design of a Mesh Crawling Robot with Beetle-Inspired Variabl...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Hao Hu, Kai Hu, Longlong Zhou, Ziqi Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Compared with large robots, micro-robots have the advantages of small size, low power consumption, and high concealment. For complex terrain, the crawling performance of micro-robots will be significantly reduced. In this study, the mesh surface was used as the crawling base of the robot, and a variable stiffness tarsus was designed with the beetle as a reference. This tarsus composed of multiple bending parts achieves a large range of stiffness changes, 0.070.495 N/mm. We have achieved stiffness control of the tarsus in a single actuation by trajectory planning of the claw ends. The proposed robot can achieve a big stiffness of the tarsus to resist the deformation of the tarsus due to external forces, which means that the robot can increase the adhesion ability when crawling at the stance phase. Therefore, even when the load was increased from 10g to 40g, the average crawling speed of the robot was not significantly reduced. This new tarsus can improve the crawling performance of the micro-robot on the mesh. © 2024 IEEE.

关键词： Microrobots

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Active Complaint Control for Smooth and Quick Connector Assembly*

Active Complaint Control for Smooth and Quick Connector Asse...

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IEEE International Conference on robotics and Biomimetics

作者： Jun Wu Yu He He Wang Qiyu Wang Shaowei Fan School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly.

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Advancements in graphene-based composites: A review of the emerging applications in healthcare

Smart Materials in Medicine

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Smart Materials in Medicine 2025年第1期6卷 120-138页

作者： Batool, Farwa Muhammad, Saz Muazzam, Rabia Waqas, Muhammad Ullah, Zia Roy, Shubham Zhang, Yinghe Wang, Ke Guo, Bing Department of Chemistry Lahore Garrison University DHA Phase VI Lahore Pakistan School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China School of Science Shenzhen Key Laboratory of Flexible Printed Electronics Technology Shenzhen Key Laboratory of Advanced Functional Carbon Materials Research and Comprehensive Application Harbin Institute of Technology Shenzhen518055 China Government Queen Mary Graduate College Lahore Pakistan

Graphene and related materials are emerging revolutionary materials due to fascinating stimuli-responsive physiochemical properties having widespread applications in developing advanced nano-systems for detection, diagnostics, and therapeutics in biomedical fields. Various materials like metal nanoparticles, polymers, dyes, drugs, and proteins could be combined yielding graphene-based composite materials (GBCMs) to synergistically fulfill different biomedical requirements. The 2D conjugated structure, easy surface functionalization via covalent or van der Waal interactions, and combination with different components for versatile functionalities altogether contribute to the development of GBCM for healthcare applications. This review specifically focuses on GBCMs and discusses specific material properties relevant to their material applications in healthcare. Furthermore, the synthesis, toxicity, and biocompatibility of these GBCMs, and their interactions with biological materials are thoroughly discussed. Importantly, the recent cutting-edge applications in the field of healthcare, including its role in the development of antibacterial, anti-viral, and photothermal therapies, wound healing, drug delivery, neurodegenerative disease therapy, and biosensing based on GBCMs are well-updated. Additionally, the applications of GBCMs in point-of-care devices, wearable electronics, and tissue engineering are well summarized. We hope this review opens up more possibilities to design more innovative healthcare materials derived from graphene. © 2025 The Authors

关键词： Biocompatibility

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The discovery of interfacial electronic interaction within cobalt boride@MXene for high performance lithium-sulfur batteries

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Chinese Chemical Letters 2021年第7期32卷 2249-2253页

作者： Bin Guan Xun Sun Yu Zhang Xian Wu Yue Qiu Maoxu Wang Lishuang Fan Naiqing Zhang State Key Laboratory of Urban Water Resource and Environment School of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150001China Academy of Fundamental and Interdisciplinary Sciences Harbin Institute of TechnologyHarbin 150001China

Lithium-sulfur battery is strongly considered as the most promising next-generation energy storage system because of the high theoretical specific *** serious"shuttle effect"and sluggish reaction kinetic limited the commercial application of lithium-sulfur *** hetero structure s were applied to accelerate polysulfides conversion and suppress their migration in lithium-sulfur ***,the effect of the interface in heterostructure was not ***,the Co_(2)B@MXene heterostructure is synthesized through chemical reactions at room temperature and employed as the interlayer material for Li-S *** theoretical calculations and experimental results indicate that the interfacial electronic interaction of Co_(2)B@MXene induce the transfer of electrons from Co_(2)B to MXene,enhancing the catalytic ability and favoring fast redox kinetics of the polysulfides,and the theoretical calculations also reveal the underlying mechanisms for the electron transfer is that the two materials have different Fermi energy *** cell with Co_(2)B@MXene exhibits a high initial capacity of1577 mAh/g at 0.1 C and an ultralow capacity decay of 0.0088%per cycle over 2000 cycles at 2 *** at5.1 mg/cm^(2) of sulfur loading,the cell with Co_(2)B@MXene delivers 5.2 mAh/cm^(2) at 0.2 C.

关键词： Co_(2)B@MXene Separator Interfacial electronic interaction Catalytic activity Lithium-sulfur batteries

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