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SSRN 2024年

作者： Ju, Wenxuan Ning, Kewei Zhao, Fulong Lu, Ruibo Bao, Hui Tan, Sichao College of Nuclear Science and Technology Harbin Engineering University Heilongjiang150001 China Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin150001 China Nuclear Power Institute of China Chengdu610213 China

A conceptual design scheme of helium-xenon gas-cooled reactor core consisting of hexagonal prismatic fuel assemblies with a thermal power of 6 MW was proposed. The geometric parameters of the core were determined based on the relationship between hydraulic diameter and inlet velocity of fuel elements with restrain of allowable pressure drop and maximum fuel surface temperature. Thermal performance of individual fuel elements and the cooling effect of helium-xenon channels within the reflector layer were analyzed. Channels for helium-xenon gas mixture were added to reduce the surface temperature outside the reflector *** computational results indicate that the operational burnup of the reactor can reach 40.88 MW·d/kg. The graphite rods added to the core collectively contribute 1404 pcm reactivity, achieving the effect of reducing fuel loading and increasing safety margins in water flooding accidents. The helium-xenon gas mixture reduces the reflector layer temperature by approximately 48.88%. © 2024, The Authors. All rights reserved.

关键词： Gas mixtures

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Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics

Terrain Classification Using Inside-Wheel Cameras Based on W...

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IEEE International Conference on robotics and Biomimetics

作者： Longteng Hu Feng Xue Chen Yao Yunzhou Li Jin Wei Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Harbin of Institute of Technology (HIT) Harbin China

The wheeled rover is widely used in off-road planetary exploration tasks nowadays. However, complex operating environment like soft deformable terrains on the planet surface demands the high performance of rover. In order to reduce danger, environmental perception technologies need to be used on the rover. Terrain classification is a critical method in environmental perception. In this research, a wheel-vision-based terrain classification method is proposed. This method uses wheel-terrain interaction parameters obtained from inside-wheel cameras which are strongly related to the terrain as input. We use single-wheel testbed to collect and process data to form a dataset. The data is obtained under different slip ratios and different terrains. Then, we train four terrain classification models using machine learning algorithms and analyze their performance. From the results, all performance criteria of the models achieve over 95%, with DT being the optimal method. The feasibility of our method in the case of fewer training samples and the rationality of dataset selection are also verified through the results of different training set sizes and the ablation experiment.

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Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第5期39卷 606-618页

作者： ZHANG Jing WANG Dongbao WU Guangping GUO Hongwei LIU Rongqiang College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024P.R.China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production *** order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar *** Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector *** mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization *** constraint condition is established based on the actual working *** the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of *** total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is ***,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and *** workspace distribution of the robot meets the design requirements.

关键词： parameter optimization motion analysis mechanism design transfer robot heavy-load

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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Carbon-Ferrous-Sulfur Mixotrophic Denitrification Driven by Polyferric Sulfate (Pfs)-Conditioned Recovered Sludge Fermentation Liquor Enhanced Nitrogen Removal in Woolen Wastewater

SSRN

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SSRN 2024年

作者： Li, Xiqi Liu, Wenzong Yu, Zhe Bu, Shenglin Zhang, Na Wang, Aijie State Key Laboratory of Urban Water Resource and Environment School of Environment Harbin Institute of Technology Harbin150090 China State Key Laboratory of Urban Water Resource and Environment School of Civil and Environmental Engineering Harbin Institute of Technology Shenzhen Shenzhen518055 China CAS Key Laboratory of Environmental Biotechnology Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing100085 China

Reducing pollution and carbon emissions synergistically in wastewater treatment is an important part of carbon neutralization. Recycling carbon sources (CSs) in sludge to refeed denitrification has been considered a promising sustainable pathway, but it is limited by CSs purification and recovery. This study evaluated the effects of polyferric sulfate (PFS), polyaluminum chloride (PAC), and polyacrylamide (PAM) conditioning on fermentation CSs recovery and denitrification efficiency. Results indicated PFS-conditioned fermentation liquor showed higher denitrification efficiency and lower agent cost for woolen wastewater. CSs recovery test showed that PFS conditioning improved the purity of high-bioavailability CSs by depleting fewer SCFAs and removing more TN, TP, and humic acids. Importantly, Fe(III) dissociated from PFS oxidized the S2- from woolen wastewater, and generated Fe(II) and S0, which composed a synergistic electron donor system together with SCFAs. They constituted a mixotrophic denitrification dominated by heterotrophic denitrification and reinforced by ferrous and sulfur-autotrophic denitrifications, which contributed 69.56, 17.72, and 12.72% to nitrogen removal, respectively. In addition, the refeeding of PFS-conditioned fermentation liquor promoted the proliferation of microorganisms involved in iron/sulfur autotrophic denitrification and the abundance of denitrification functional genes, especially the napA, nirS, cnorB, qnorB, and nosZ, forming an efficient Carbon-Ferrous-Sulfur hybrid denitrifiers community to enhanced nitrogen removal from woolen wastewater. © 2024, The Authors. All rights reserved.

关键词： Fatty acids

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Leg Transmission Mechanism for Enhanced Load-Carrying Capacity: Knee Joint Torque Optimization Design

Leg Transmission Mechanism for Enhanced Load-Carrying Capaci...

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IEEE International Conference on Development and Learning, ICDL

作者： Quan Huang Yixuan Guo Haoyun Yan Yuquan Leng Shoubin Liu Chenglong Fu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

This study proposes an optimized design for the leg transmission structure of a quadruped robot, aiming to enhance the load-bearing capacity of the knee joint. Firstly, the dynamic simulation of the single leg's load-lifting process in the quadruped robot is conducted, indicating higher torque demands on the knee joint during this process. Therefore, a leg transmission mechanism, combining a ball screw mechanism and a crank-slider mechanism, is designed to effectively amplify the torque of the knee joint motor. Subsequently, a virtual prototype of the quadruped robot, incorporating this design, is constructed using Adams software. The foot trajectory of the robot is pre-planned, and the joint trajectories are obtained through inverse kinematics, using them as the driving functions for the quadruped robot to perform actions such as load lifting, static standing, and diagonal walking gait. Finally, the knee joint torque and corresponding motor driving torque of the quadruped robot's legs are measured and compared. The results demonstrate that the driving torque of the knee joint motor is effectively amplified by the leg transmission mechanism, with the maximum amplification observed during the initial stage of load lifting, reaching a magnification factor of nearly 7.66 times. This verifies the effectiveness of the proposed leg transmission mechanism in enhancing the load-bearing capacity of the knee joint.

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Directional sliding of water:biomimetic snake scale surfaces

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Opto-Electronic Advances 2021年第4期4卷 35-46页

作者： Yizhe Zhao Yilin Su Xuyan Hou Minghui Hong Department of Electrical and Computer Engineering National University of Singapore4 Engineering Drive 3117576Singapore State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent *** by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study explores the feasibility to produce a bionic superhydrophobic stainless steel surface via laser precision engineering,which allows the realization of directional superhydrophobicity and dynamic control of its water *** mechanism of water sliding on hierarchical snake scale structures is studied,which is the key to reproduce artificially bioinspired multifunctional materials with great potentials to be used for water harvesting,droplet manipulation,pipeline transportation,and vehicle acceleration.

关键词： biomimetic hierarchical micro/nanostructures directional superhydrophobicity anisotropic friction

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Double-Layered Microcracks Coupled Strain Sensors with High Sensitivity and Wide Working Range

SSRN

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SSRN 2024年

作者： Wang, Zihao Liang, Cuiyuan Yang, Yuanhe Sun, Jiaxue Zhang, Xuelin Wang, Yu Jiang, Ying Liu, Yan Qi, Dianpeng MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage National and Local Joint Engineering Laboratory for Synthesis Transformation and Separation of Extreme Environmental Nutrients School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin150001 China Key Laboratory of Science and Engineering for the Multi-modal Prevention and Control of Major Chronic Diseases Ministry of Industry and Information Technology Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Astronautics Harbin Institute of Technology Harbin150001 China Department of Electromechanical Engineering Centre for Artificial Intelligence and Robotics University of Macau 999078 China

The flexible strain sensor is a crucial component of the wearable technology, offering considerable potential for monitoring physiological signals. Notably, strain sensors based on nanomaterial thin films have gained much attention from researchers due to their excellent performance and ease of preparation. Nevertheless, challenges remain, such as the rapid expansion of cracks in rigid conductive films under strain, which greatly reduces the working range of the sensors. Conversely, soft conductive films characterized by small cracks are much less sensitive. This study introduces a novel conductive strategy centered on the double-layered microcracks of gold/PPy (Polypyrrole) composite films. The as-prepared strain sensor exhibits ultra-high sensitivity with a gauge factor (GF) of approximately 3.604 × 107, an expansive working range spanning from 0% to 60%, high strain resolution at 0.1% and commendable cycling stability exceeding 1000 cycles. The crack formation and sensing mechanisms were thoroughly investigated, elucidating the key role of the double-layered microcracks in enhancing sensing performance. Ultimately, the practicality of the developed sensor for human health monitoring and human-computer interaction was demonstrated by the accurate detection of human motion. © 2024, The Authors. All rights reserved.

关键词： Thin films

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Magnetic interactions based on proton orbital motion in CH3NH3PbI3 and CH3NH3PbBr3

arXiv

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arXiv 2024年

作者： Meng, Lei Zhao, Miao Miao Xu, Yi Yang Peng, Chu Xin Yang, Yang Xing, Tian Tian Ren, Peng Yen, Fei Department State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Laboratory Micro-Nano Optoelectronic Information System The School of Science Harbin Institute of Technology Shenzhen. University Town Guangdong Shenzhen518055 China

The microscopic origin of the remarkable optoelectronic properties of one of the most studied contemporary materials remains unclear. Here, we identify the existence of magnetic interactions between intermolecular proton orbitals in CH3NH3PbI3 and CH3NH3PbBr3. In particular, a unique sharp drop and a pronounced step-up discontinuity in the magnetic susceptibility at the tetragonal-to-cubic phase transitions are identified in CH3NH3PbI3 and CH3NH3PbBr3, respectively. The magnetic interactions in the orthorhombic and tetragonal phases are dependent on thermal history and lattice orientation while nearly independent of the applied external magnetic field. In CH3NH3PbBr3, the CH3 and NH3+ components reorient in an uncorrelated fashion resulting the cubic phase to also exhibit magnetic anisotropy. Our findings provide a potential link connecting the highly light-absorbing CH3NH3+ and the exceptional properties of the charge carriers of the inorganic framework in hybrid perovskite solar cells. © 2024, CC BY-NC-ND.

关键词： Perovskite

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Toward the smooth mesh climbing of a miniature robot using bioinspired soft and expandable claws

arXiv

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arXiv 2022年

作者： Wang, Hong Liu, Peng Ngoc, Phuoc Thanh Tran Li, Bing Li, Yao Sato, Hirotaka State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expanded their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8-cm miniature climbing robot equipping artificial claws to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60°, and even transition surface. To our best knowledge, this is the first micro-scale robot that can climb both the mesh surface and cliffy incline. © 2022, CC BY.

关键词： Robots

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