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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zhihui Wei, Tanyong Li, Zongze Huang, Ding Liu, Shoubin Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare. © 2023 IEEE.

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Study on the interfacial IMCs growth of nt-Cu/In solder joints

Study on the interfacial IMCs growth of nt-Cu/In solder join...

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International Conference on (ICEPT) Electronic Packaging technology

作者： Zicheng Sa Xudong Liu Shang Wang Jiayun Feng Yanhong Tian State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin P. R. China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China

With the trend of miniaturization, high density, and high frequency of electronic products, system in packaging devices are increasingly widely used in electronic products. Multiple reflow soldering is required in the production process of complex electronic products, and solders with different temperature gradients are necessary to achieve assembly. Indium has good flexibility, especially in low temperature service environments, it can still guarantee good flexibility, so it has relatively excellent thermal fatigue resistance. At the same time, nanotwinned copper (nt-Cu) has attracted attention in the field of microelectronics due to its excellent properties of ultra-high conductivity and ultra-high strength. In this paper, the microstructure and reliability of nt-Cu/In/nt-Cu micro solder joints at different reflow temperatures and time were studied. It is found that the phase of the Cu-In intermetallic compound at the interface is Cu11In9. And the shear tests were performed on samples of solder joints obtained under various reflow conditions to obtain the best solder joints. Finally, the growth kinetic equation of Cu11In9 was calculated.

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Unlocking Bio-Hydrogen Production Potential from Rice Straw: The Role of Fe/Mn-Biochar in Alleviating Carbon Catabolite Repression

SSRN

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SSRN 2024年

作者： Wu, Jiwen Liu, Bing-Feng Zhou, Chun-Shuang Xi, Qi Fan, Jia-Ning Cao, Guang-Li You, Shijie State Key Laboratory of Urban Water Resource and Environment School of Environment Harbin Institute of Technology Harbin150006 China

Using rice straw as a substrate for bio-hydrogen production offers a promising solution to waste management challenges and energy shortages. However, the bio-hydrogen conversion of lignocellulosic biomass like rice straw is often limited by low utilization of cellulose and hemicellulose, affecting its economic viability. To address this issue, we developed a Fe/Mn-biochar regulated dark fermentation system to enhance the bio-hydrogen conversion of rice straw. A substrate mixture of 2 g-VS sludge and 8 g-VS straw per liter, combined with 5 g/L Fe/Mn-biochar, resulted in 2530 mL/L of bio-hydrogen production, achieving a yield of 296.95 mL/g-substrate utilized. Comparative kinetic analyses with systems incorporating unmodified biochar, Mn-biochar, and Fe-biochar highlighted the synergistic effect of iron and manganese in Fe/Mn-biochar, which facilitated rice straw utilization and shifted bio-hydrogen fermentation towards a more efficient acetate-dominant pathway. Fe/Mn-biochar enriched hydrogen-producing bacteria capable of efficiently utilizing rice straw, notably increasing the abundance of hard-to-culture strains such as unclassified_Ruminococcaceae, from 12.78% to 31.03% compared to systems with unmodified biochar. Proteomic analysis revealed that Fe/Mn-biochar enhanced hemicellulose utilization in rice straw via carbon catabolic repression alleviation. Proteins associated with hemicellulose saccharification, pentose utilization, electron transfer, and bio-hydrogen production were upregulated by 1.54 to 9.65-fold. These findings elucidate the pivotal role of Fe/Mn-biochar in boosting bio-hydrogen production from straw, contributing to the high-value conversion of waste biomass into a sustainable and efficient pathway for achieving carbon peaking and neutrality goals. © 2024, The Authors. All rights reserved.

关键词： Straw

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N-Doped Carbon Nanotubes as Metal-Free Catalysts for Paa Activation: Exploration of Reaction Mechanisms and Prediction of Active Sites

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SSRN 2024年

作者： Shi, Miao Zhang, Bin Yan, Xiaoyu Ma, Jun He, Xu State Key Laboratory of Urban Water Resource and Environment School of Environment Harbin Institute of Technology Harbin150090 China

Due to the growing demand for chlorine reduction and the control of disinfection byproducts (DBPs), peracetic acid (PAA) has garnered significant attention as an alternative oxidizer and disinfectant in water treatment. These applications have prompted new research into PAA-based Advanced Oxidation Processes (AOPs) that can simultaneously enhance water disinfection and facilitate the removal of microcontaminants. In this study, nitrogen-doped carbon nanotubes were utilized as metal-free catalysts. During the activation process of peracetic acid (PAA), we observed a linear relationship between the extent of nitrogen atom doping and both the degree of graphitization and the pollutant removal rate. The results were further validated through density functional theory (DFT) calculations. Different types of nitrogen atoms can reduce the energy barrier for breaking peroxy bonds in PAA to varying degrees, thereby facilitating the conversion of MWCNT-PAA* complexes into adsorbent hydroxyl radicals. The system achieves effective pollutant removal through the combined actions of electron transfer and non-free radical mechanisms. Furthermore, carbon materials can be effectively integrated with membrane filtration, which not only facilitates the recycling of carbon materials in practical applications but also enhances the catalytic efficiency of nitrogen-doped multi-walled carbon nanotubes (NMWCNTs) while ensuring the safety of the effluent. These findings are expected to provide valuable insights into the development of catalysts, the enhancement of catalytic effects, and the advancement of oxidation processes based on PAA. © 2024, The Authors. All rights reserved.

关键词： Disinfection

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UAV-Assisted FSO Communication system with Amplify-and-Forward Protocol under AOA Fluctuations:A Performance Analysis

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China Communications 2023年第11期20卷 111-130页

作者： Maozhe Xu Guanjun Xu Youran Dong Weizhi Wang Qinyu Zhang Zhaohui Song Shanghai Key Laboratory of Multidimensional Information Processing East China Normal UniversityShanghai 200241China State Key Laboratory of Integrated Services Networks Xidian UniversityXi’an 710126China Space Information Research Institute Hangzhou Dianzi UniversityHangzhou310018China Peng Cheng Laboratory Shenzhen 518052China Communication Engineering Research Center Harbin Institute of TechnologyShenzhen 518055China

Free space optical(FSO)communication has recently aroused great interest in academia due to its unique features,such as large transmission band,high data rates,and strong anti-electromagnetic *** the aim of evaluating the performance of an FSO communication system and extending the line-of-sight transmission distance,we propose an unmanned aerial vehicle(UAV)-assisted dual-hop FSO communication system equipped with amplifyand-forward protocol at the relay ***,we consider impairments of atmospheric absorption,pointing errors,atmospheric turbulence,and link interruptions due to angle-of-arrival fluctuations in the relay *** Gamma-Gamma and Malaga distributions are used to model the influence of atmospheric turbulence on the source-to-UAV and UAVto-destination links,*** derive closedform expressions of the probability density function(PDF)and cumulative distribution function(CDF)for the proposed communication system,in terms of the Meijer-G *** on the precise PDF and CDF,analytical expressions for the outage probability,average bit error rate,and ergodic capacity are proposed with the aid of the extended generalized bivariate Fox’s H ***,we show that there is a match between the analytical results and numerical results,and we analyze the influence of the system and channel parameters on the performance.

关键词： amplify-and-forward protocol angle-ofarrival fluctuations FSO communication Malaga distribution UAV relay

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Reconstruction Method of Stator Magnetomotive Force of High-Speed Fault-Tolerant Permanent Magnet Synchronous Motor with Single Winding Independent Control Structure

Reconstruction Method of Stator Magnetomotive Force of High-...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Zhibai Gao Jiwei Cao Chengbao Zhong Jiaxi Liu Yuchen Song Liyi Li Department of Electrical Engineering Harbin Institute of Technology Harbin China Guangdong Provincial Key Laboratory of High-Performance Servo System Zhuhai China

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

Aiming at the reliability problem of permanent magnet synchronous motor system, a reconstruction method of stator magnetomotive force based on independent winding control structure is established in this paper. For the problem of stator magnetomotive force reconstruction after fault, the mathematical derivation based on current is carried out in this paper, and the current control target of reconstructing stator magnetomotive is obtained. Through this method, the current of each phase of the motor with independent winding control structure can be quickly obtained by formula, and the motor system can run at the same power, torque and speed before and after the fault. Finally, the prototype model based on this method is established by finite element simulation, which proves the effectiveness of this method.

关键词： Torque Force Windings Fault tolerant systems Stator windings Prototypes Reconstruction algorithms Permanent magnet motors Finite element analysis Periodic structures

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Hydrothermally Synthesized Vanadium Diselenide: A Cathode Active Material for Aqueous Zinc-Ion Batteries

Hydrothermally Synthesized Vanadium Diselenide: A Cathode Ac...

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International Conference on (ICEPT) Electronic Packaging technology

作者： Xinxin Wang Shang Wang Yan Feng Xinyang Ma Jiayun Feng He Zhang Yanhong Tian State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China

As an emerging energy storage system, aqueous zinc-ion batteries have attracted widespread attention in fields of wearable electronics and healthcare devices. However, limited cycle stability of cathode materials has hindered the commercialization of zinc-ion batteries. Herein, we synthesized vanadium diselenide nanoflakes using hydrothermal method as cathode active material, which exhibited promising cycle performance after the 20 charge-discharge cycles. The assembled zinc battery maintained a specific capacity of 110mAh/g under 0.1C in 150 cycles. This investigation illuminates the potential advancements of aqueous batteries in the realm of portable energy storage devices.

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A Two-Stage Energy Management Framework for Minimizing Degradation and Equivalent Hydrogen Consumption of Electric-Hydrogen Hybrid Energy Storage systems in Islanded Microgrids

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IEEE Internet of Things Journal 2025年第12期12卷 20607-20625页

作者： Tang, Yuzhen Min, Fanqi Zheng, Zhuoqun Deng, Chengwei Xie, Jingying Yang, Hengzhao ShanghaiTech University School of Information Science and Technology Shanghai201210 China Chinese Academy of Sciences Shanghai Advanced Research Institute Shanghai201210 China University of Chinese Academy of Sciences Beijing100049 China Shanghai Aerospace Power Technology Co. Ltd Shanghai201112 China Shanghai Institute of Space Power-Sources State Key Laboratory of Space Power Source Technology Shanghai200245 China Huzhou Yongxing Lithium Battery Technology Co. Ltd Huzhou313099 China China Aerospace Science and Technology Corporation Beijing100048 China Harbin Institute of Technology School of Chemistry and Chemical Engineering Harbin150001 China

Enabled by the Internet of Things technology, effective control and management of critical assets such as energy storage in electric power systems is of great interest. This paper proposes a two-stage energy management framework to minimize the degradation and equivalent hydrogen consumption of electric-hydrogen hybrid energy storage systems in the context of islanded microgrids. The first stage minimizes the system degradation by optimizing the start-stop states of the hydrogen components including the electrolyzer and the fuel cell. The logic variables associated with the start-stop states and the component reference power are optimized in the first stage. The second stage minimizes the system equivalent hydrogen consumption while minimizing the deviation of the component power with respect to the component reference power determined in the first stage. The objective function of the second stage introduces two weights to measure the contributions of the battery and the hydrogen components to the system equivalent hydrogen consumption, which are defined based on the two virtual forces related to the battery state of charge (SOC) and the hydrogen storage tank state of hydrogen charge (SOHC). Offline and real-time simulations demonstrate the effectiveness of the framework in properly allocating the net load power to the battery and the hydrogen components to optimize the two objectives. Furthermore, the effects of the virtual forces on the SOC, SOHC, and system equivalent hydrogen consumption are investigated. © 2014 IEEE.

关键词： Charge storage

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Experimental Investigation on Natural Circulation Characteristics of Core Make-Up Tank Under Rolling Conditions 29

Experimental Investigation on Natural Circulation Characteri...

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2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Wang, Shuguang Zhang, Jinlei Shen, Ya'ou Liu, Xiaobo Ding, Shuhua Liu, Yusheng Li, Dongyang Tang, Jilin Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China Nuclear and Radiation Safety Center Beijing China

ISBN: (纸本)9780791886502

In the floating nuclear power plant, Core Make-up Tank (CMT) is one of the passive safety facilities, has been widely used in nuclear engineering. Under emergency conditions, natural circulation occurs and consequent thermal stratification appears in CMT system. However, rolling motion will directly affect the natural circulation and destroy the formation of thermal stratification, so there will be uncertain and unknown change of the safety injection capacity of CMT. Based on above analysis, this work carried out experiments under rolling conditions to reveal natural circulation and thermal stratification characteristics in CMT. A temperature detecting matrix formed by thermocouples is deployed in CMT. It is concluded that thermal stratification distribution is affected by the rolling conditions. Rolling conditions increase the thickness of thermal stratification and reduce the temperature gradient. The CMT natural circulation has two stages, the influence of rolling motion on the average flow in the first stage of natural circulation is very weak, but rolling motion will significantly affect the second stage of natural circulation and advance the decline time of direct vessel injection (DVI) flow rate. The transition time of natural circulation stage and the flow change in the second stage of natural circulation are related to the thermal stratification in CMT. The impact of rolling conditions should not be ignored when evaluating the performance of CMT. © 2022 by ASME.

关键词： Safety engineering

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Line Feature Based Visual Servo Control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yunfei Zhang Xinyu Bian Yize Sun Zongyu Zhang Hai Huang Xu Yang National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features.

关键词： Visualization Heuristic algorithms Dynamics Estimation Grasping Stability analysis Servomotors Vehicle dynamics Underwater vehicles Manipulator dynamics

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