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Corrigendum to “Development of a miniature piezoelectric robot combining three unconventional inertial impact modes” [Sens. Actuators A Phys. 365 (2024) 114898]

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Sensors and Actuators A: Physical 2024年 367卷

作者： Jing Li Boliang Xu Jie Deng Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

To Remove Moxifloxacin Bio-Inhibition in Production Wastewater Coexistence of Ethanol and Cl−, Why Uv/H2o2 is Better than Fenton: Limitation of Fe2+ and Moxifloxacin Adsorption to H2o2

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SSRN 2025年

作者： Zhang, Yingying Yang, Min Cui, Wenbo Xu, Lin-Ji Zhang, Depeng Tao, Yu Han, Jing-Long 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 Eco-Environmental Harbin Institute of Technology Shenzhen Shenzhen518055 China College of Environment and Ecology Chongqing University Chongqing400044 China College of Science Shenyang University Shenyang110044 China

Chemical pharmaceutical wastewater, like moxifloxacin, contains high ethanol, chloride ions (Cl−), and active drugs, and their presence hinders efficient antibiotic removal, crucial for biochemical system function. This study conducted a comparative analysis of the Fenton reaction and ultraviolet (UV) in conjunction with H2O2, and UV in combination with Na2SO3. The results found that under the coexistence of ethanol and Cl−, the removal of moxifloxacin stagnated for Fenton (16.21%) and UV/Na2SO3 (37.72%), while the UV/H2O2 maintained a removal rate of more than 90%. In the Fenton process, Cl− and ethanol consumed Fe2+ through reactive species like ·Cl, ·Cl2−, and ·HO2, which reduced Fe2+ concentration and hindered the defluorination process. UV/Na2SO3 proved ineffective for moxifloxacin. For UV/H2O2, in addition to photolysis, it also overcame the reaction inhibition caused by insufficient Fe2+ concentration. And moxifloxacin strongly adsorbed H2O2 (with an adsorption energy of −18.22 kJ mol-1), generating ·OH around the moxifloxacin and reducing ·Cl and ethanol concentrations, leading to more effective removal and defluorination (47.30%). UV/H2O2 pretreatment restored nitrification, demonstrating the feasibility of antibiotic removal coupled with biochemical energy conversion or mineralization, offering valuable insights into cost-effective complex wastewater treatment. © 2025, The Authors. All rights reserved.

关键词： Wastewater treatment

On the Passive Virtual Viscous Element Injection Method for Elastic Joint Robots

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IEEE Transactions on robotics 2025年 41卷 4078-4099页

作者： Zhang, Jiexin Hou, Tengyu Ding, Ye Zhang, Bo Liu, Honghai Huazhong University of Science and Technology State Key Laboratory of Intelligent Manufacturing Equipment and Technology Hubei Wuhan 430074 China School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and Systems Shenzhen 518055 China Peng Cheng Laboratory Shenzhen 518000 China

Increasing the viscosity of elastic joints can significantly improve the performance of elastic joint robots during physical human–robot interactions. However, current approaches for injecting viscous elements require an additional damper to be added in parallel with the elastic elements. In this paper, we propose a new concept called virtual viscous element injection (VVI), which enables a robot to exhibit viscoelasticity without altering its mechanical structure. VVI relies only on motor-side dynamics reshaping and state feedback. Interestingly, the VVI method allows high-resolution joint torque measurements in elastic joint robots, unlike in physical viscoelastic joint robots, which measure joint torque using higher-order derivatives of the positions. Furthermore, the VVI method is proved to preserve the passivity of robot dynamics, which provides numerous possibilities for the applications of combined passivity-based controllers. Specifically, we first emphasize the impedance control method using VVI. The results demonstrate that the VVI-DF method, which combines the direct feedback (DF) method with VVI, addresses the issue of excessive acceleration feedback in the controller. This provides looser constraints for achieving a high-gain torque loop in impedance control. Moreover, this paper also provides examples of the application of VVI combined with passivity-based position and torque controllers. Experiments and simulations demonstrate the effectiveness of the proposed methods. The proposed method can be extended to various robots, such as exoskeletons, and collaborative robots. © 2004-2012 IEEE.

关键词： elastic joint robots impedance control passivity-based control physical human-robot interaction Virtual viscous element injection

Regulating the Peroxymonosulfate Activation on N Doped δ-MnO2 Nanosheets for Tetracycline Degradation: N Species as the Degradation Pathways Switcher to Convert Radical to Nonradical

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SSRN 2023年

作者： Wang, Yingjun Bao, Shuangyou Liu, Xinyang Qiu, Longyu Sheng, Jie Yang, Weiwei Yu, Yongsheng State Key Laboratory of Urban Water Resource and Environment School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin150001 China Laboratory for Space Environment and Physical Science Research Center of Basic Space Science Harbin Institute of Technology Harbin150001 China

The coexistence of multiple reactive oxidation species is difficult to cater the diverse degradation requirements during advanced oxidation processes. Here, the δ-MnO2 nanosheets are prepared to regulate the reactive oxidation species converting from radical-dominated to nonradical-dominated through the nitrogen doped operation in a gentle mechanical stirring method. The optimal 0.5N-MnO2 materials present 91.2% TC degradation efficiency in the presence of peroxymonosulfate (PMS) with the apparent rate constant is 0.63 min-1, which is 1.66 and 4.2 times higher than that of in δ-MnO2/PMS (0.38 min-1) and alone PMS (0.15 min-1) systems, respectively. Radicals quenching experiments, electron paramagnetic resonance spectra and competing kinetics experiments indicate that the δ-MnO2 nanosheets promote PMS decomposition with attaining a high radical (SO4-·, ·OH and ·O2-) oxidation path contribution (74.5%) for TC degradation. Meanwhile, the doping of N species and electrons contribute to the generation of 1O2, allowing the whole reactive system dominated by a nonradical species (e- and 1O2) pathway (80.3%). Importantly, electrochemical tests verify the participation of electrons and the electrons transfer from TC to the 0.5N-MnO2 surface for PMS activation via 0.5N-MnO2-PMS* surface complex. Overall, it is practical to cater the specific application of advanced oxidation processes through N as the degradation pathways switcher. © 2023, The Authors. All rights reserved.

关键词： Rate constants

Direct observation of chaotic resonances in optical microcavities

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Light(Science & Applications) 2021年第8期10卷 1455-1461页

作者： Shuai Wang Shuai Liu Yilin Liu Shumin Xiao Zi Wang Yubin Fan Jiecai Han Li Ge Qinghai Song Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Harbin Institute of Technology(Shenzhen)Shenzhen 518055China National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbin 150080China. Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China. Department of Physics and Astronomy College of Staten IslandCUNYStaten IslandNY 10314USA. The Graduate Center CUNYNew YorkNY 10016USA

Optical microcavities play a significant role in the study of classical and quantum *** date,most experimental explorations of their internal wave dynamics have focused on the properties of their inputs and outputs,without directly interrogating the dynamics and the associated mode patterns *** a result,this key information is rarely retrieved with certainty,which significantly restricts the verification and understanding of the actual chaotic *** we demonstrate a simple and robust approach to directly and rapidly map the internal mode patterns in chaotic *** introducing a local index perturbation through a pump laser,we report a spectral response of optical microcavities that is proportional to the internal field *** this technique,chaotic modes with staggered mode spacings can be ***,a complete chaos assisted tunneling(CAT)and its time-reversed process are experimentally verified in the optical domain with unprecedented certainty.

关键词： motion chaotic reversed

Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control

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Robust Tracking for Electromagnetic-Actuated Microrobot Via ...

Annual Conference of Industrial Electronics Society

作者： Yihang Wu Ziyao Qu Xiaocong Chang Zhijian Hu Rongni Yang Renjie Ma State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Control Science and Engineering Shandong University Jinan China

Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.

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Asymmetric Growth of Cu6sn5 Intermetallic Compound in Cu/Sn/Cu Interconnection system Under the Vertical Ultrasonic Vibration

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SSRN 2023年

作者： Niu, Hongwei W. Bian, Hong Liu, Xiao Song, X.G. Zhao, H.Y. School of Materials Engineering Jiangsu University of Technology Changzhou213000 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin150001 China Shandong Provincial Key Laboratory of Special Welding Technology Harbin Institute of Technology at Weihai Weihai264209 China

The asymmetric growth of Cu6Sn5 intermetallic compound (IMC) in a Cu/Sn/Cu interconnection system was studied during the transient liquid phase (TLP) soldering process with the assistance of the vertical ultrasonic vibration. Being different from the symmetrical growth during isothermal aging without ultrasonic waves (USW), highly asymmetrical growth of Cu6Sn5 at the upper and down Sn/Cu interfaces was observed with the vertical USW, i.e., Cu6Sn5 grains exhibited scallop-type morphology, and were discrete at the upper Sn/Cu interface (the side of ultrasonic action);while that at the lower Sn/Cu interface (the opposite side of ultrasonic action) exhibited column-type morphology, and were conterminous. Under the assistance of USW, the Cu6Sn5 grains were remarkably refined, the shear strength of joint was increased, and the fracture mode was changed from transgranular fracture to transgranular and intergranular fracture. This anomalous behaviour can be completely ascribed to the asymmetrical ultrasonic effects across the entire Sn the intermediate layer of Sn. © 2023, The Authors. All rights reserved.

关键词： Intermetallics

Long-Term Dechlorination Performance of the Dehalococcoides-Augmented Bioelectrochemical system and the Functional Microorganism Identification

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SSRN 2024年

作者： Meng, Lingyu Tomita, Ryuya Li, Zhiling Yoshida, Naoko Nagoya466-8555 Japan State Key Laboratory of Soil and Sustainable Agriculture Institute of Soil Science Chinese Academy of Sciences Nanjing China State Key Laboratory of Urban Water Resources and Environment School of Environment Harbin Institute of Technology Harbin150090 China

Electroactive bacteria in microbial communities contribute to electrode-driven dechlorination by Dehalococcoides (Dhc). To pre-argument Dhc to bioelectrochemical system to construct the functional consortia is a promising strategy for achieving the complete dechlorination. However, the stability of the long-term dechlorination performance is poorly understood. And the role of electroactive bacteria during the electron transfer (ET) between Dhc and the electrode has not been studied in co-culture tests within a bioelectrochemical system. To address this gap, we performed the long-term operation with a Dehalococcoides-augmented bioelectrochemical system and enriched functional microorganisms that contribute to ET from the electrode to Dhc by constructing a stable bioelectrochemical dechlorination system. Subsequently, we cultivated Desulfosporosinus meridiei (Dm), a predicted functional species, in co-culture with Dhc when −0.3 V (relative to a standard hydrogen electrode) is applied. Our results showed that Dhc/Dm co-cultures improved the maximum ethylene production rate by approximately fourfold compared with the Dhc monoculture. In addition, Desulfosporosinus facilitated ET between the electrode and Dhc by enhancing H2 production. These findings provide a theoretical framework for comprehending how electroactive bacteria contribute to bioelectrochemical dehalogenation. © 2024, The Authors. All rights reserved.

关键词： Dechlorination

Data Splitting Method based on Air-Sea Cross-Domain Gateway Communication Information Transmission

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Data Splitting Method based on Air-Sea Cross-Domain Gateway ...

2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Shang, Zhigang Li, Mo An, Yanyan Yu, Han Wang, Yi Qin, Jixing Acoustic Science and Technology Laboratory Harbin Engineering University China Harbin Engineering University Key Laboratory of Marine Information Acquisition and Security Ministry of Industry and Information Technology China College of Underwater Acoustic Engineering Harbin Engineering University Harbin China China Academy of Aerospace Systems Science and Engineering Beijing China China State Shipbuilding Corporation Applied Acoustics Research Institute Hangzhou China Unit 91977 of the Pla Beijing China Institute of Acoustics Chinese Academy of Sciences State Key Laboratory of Acoustic Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In order to solve the problem that the air-sea cross-domain network can only establish a single-path transmission connection and cannot effectively use multiple interfaces to transmit data, this paper study a method of parallel transmission through multiple paths, based on the multi homed characteristics of the air-sea cross-domain communication gateway. Due to the differences in the bandwidth, delay and packet loss rate of different paths, the reasonable splitting of data can improve the transmission rate and communication quality of communication signals, integrate the characteristics of each path channel, achieve greater channel equalization and improve the throughput and security of system data transmission. Simulation results show that reasonable data splitting can improve data transmission speed and throughput. © 2022 IEEE.

关键词： Gateways (computer networks)