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Deformation and Locomotion of Untethered Small-Scale Magnetic Soft Robotic Turtle with Programmable Magnetization

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Journal of Bionic Engineering 2024年第2期21卷 754-763页

作者： Lin Xu Liu Yang Tao Li Xingbang Zhang jianning ding School of Mechanical Engineering Jiangsu UniversityZhenjiang212013China The Key Laboratory of Bionic Engineering(Ministry of Education) Jilin UniversityChangchun130012China Shanghai Tianchun Technology Co. LtdShanghai201802China School of Mechanical Engineering Yangzhou UniversityYangzhou225009China

Inspired by the way sea turtles rely on the Earth’s magnetic field for navigation and locomotion,a novel magnetic soft robotic turtle with programmable magnetization has been developed and investigated to achieve biomimetic locomotion patterns such as straight-line swimming and turning *** soft robotic turtle(12.50 mm in length and 0.24 g in weight)is integrated with an Ecoflex-based torso and four magnetically programmed acrylic elastomer VHB-based limbs containing samarium-iron–nitrogen particles,and was able to carry a load more than twice its own *** to the limb locomotion characteristics of sea turtles,the magnetic torque causes the four limbs to mimic sinusoidal bending deformation under the influence of an external magnetic field,so that the turtle swims continuously ***,when the bending deformation magnitudes of its left and right limbs differ,the soft robotic turtle switches from straight-line to turning swimming at 6.334 rad/***,the tracking swimming activities of the soft robotic turtle along specific planned paths,such as square-shaped,S-shaped,and double U-shaped maze,is anticipated to be utilized for special detection and targeted drug delivery,among other applications owing to its superior remote directional control ability.

关键词： Magnetic soft robotic turtle Programmable magnetization Untethered soft robotics Bending deformation

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轨迹可控的微型水母机器人研制

上海交通大学学报 2024年第8期58卷 1240-1248页

作者：王琦李绿洲董旭袁宁一丁建宁常州大学机械与轨道交通学院江苏常州213164 扬州大学机械工程学院扬州大学扬州碳中和科技创新中心江苏扬州225127 常州大学江苏省光伏科学与工程协同创新中心江苏常州213164

为解决微型机器人在较小机身尺寸下实现高效轨迹控制的难题,设计并研制了微型仿水母机器人JRT,其由气室、重心调整机构和仿水母推进器三部分组成,尺寸仅为6.8 cm×5.3 cm,可通过重心调整机构和仿水母推进器协同控制有效实现水下轨迹可控... 详细信息

为解决微型机器人在较小机身尺寸下实现高效轨迹控制的难题,设计并研制了微型仿水母机器人JRT,其由气室、重心调整机构和仿水母推进器三部分组成,尺寸仅为6.8 cm×5.3 cm,可通过重心调整机构和仿水母推进器协同控制有效实现水下轨迹可控.水下实验验证了机器人JRT沿竖直方向游泳和悬停、水平定向游泳以及水平弹射功能,并通过对机器人JRT沿竖直方向和水平方向游泳过程中的力平衡关系和运动状态数据分析提出了轨迹控制方案,测得水平定向游泳的速度可达到1.7 cm/s,轨迹偏差为0~3.4 cm,展现了微型仿水母机器人JRT较好的轨迹控制能力,可见其在水下资源勘查、环境监测等领域的应用潜力.

关键词：仿生机器人微型水母机器人电磁驱动轨迹控制运动分析重心调控

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基于静电感应的非接触式手势解锁技术研究

机械工程学报 2024年第11期60卷 309-317页

作者：曹杰王政花镜张忠强程广贵丁建宁江苏大学智能柔性机械电子研究院镇江212013 中国科学院北京纳米能源与系统研究所北京100083

摩擦纳米发电机(Triboelectric nanogenerator,TENG)作为一种新兴的发电技术在高熵能源收集、可穿戴电子器件以及自驱动传感系统中取得了重要的发展。但是由于TENG固有的高阻抗特性,高开路电压(kV)和低短路电流(μA)使得TENG的输出表征... 详细信息

摩擦纳米发电机(Triboelectric nanogenerator,TENG)作为一种新兴的发电技术在高熵能源收集、可穿戴电子器件以及自驱动传感系统中取得了重要的发展。但是由于TENG固有的高阻抗特性,高开路电压(kV)和低短路电流(μA)使得TENG的输出表征和信号采集高度依赖昂贵的仪器/设备,与此同时较高的信号处理复杂度限制了TENG在物联网中的实际应用。提出了一种简单有效的将TENG信号用于智能监测的信号采集和处理方法,并基于此设计制作了非接触式智能手势密码锁。以单电极式TENG为信号触发端,通过基于金属氧化物半导体场效应晶体管(Metal-oxide-semiconductor field-effect transistor,MOSFET)的唤醒电路设计实现TENG触发状态的识别,然后利用微控制器(Microcontroller unit,MCU)读取MOSFET的通断状态并处理,接着将MCU与上位机程序建立通信,最后利用上位机中的信号处理程序实现非接触智能密码锁的效果演示。该工作为TENG用于智能监测提供了实践借鉴,推动了TENG在物联网、人工智能等领域的商业化应用。

关键词：摩擦纳米发电机信号处理智能监测物联网摩擦电子学

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阻燃凝胶聚合物电解质的制备及其性能研究

储能科学与技术 2024年第8期13卷 2529-2540页

作者：张结雨张顺李宁曾芳磊丁建宁常州大学材料科学与工程学院江苏常州213164 江苏大学机械工程学院江苏镇江212013 扬州大学碳中和技术研究院江苏扬州225127

本工作采用原位聚合工艺制备阻燃凝胶聚合物电解质,将1,1,2,2-四氟乙基-2,2,3,3-四氟丙基醚(HFE)引入电解质体系中,在提高电解质的阻燃性能的同时,还可以通过调节多硫化物的溶解程度来抑制锂硫电池的“穿梭效应”。对比未添加HFE(HFE-0... 详细信息

本工作采用原位聚合工艺制备阻燃凝胶聚合物电解质,将1,1,2,2-四氟乙基-2,2,3,3-四氟丙基醚(HFE)引入电解质体系中,在提高电解质的阻燃性能的同时,还可以通过调节多硫化物的溶解程度来抑制锂硫电池的“穿梭效应”。对比未添加HFE(HFE-0)和添加不同含量HFE的电解质的阻燃性能和电化学性能发现,DOL、DME和HFE体积比为1∶0.5∶0.5时(HFE-0.5)凝胶聚合物电解质具有最优的阻燃性能和电化学性能。通过扫描电子显微镜(SEM)和电化学技术等表征测试手段,对比分析了使用HFE-0和HFE-0.5电解质的锂硫电池和磷酸铁锂电池的电化学性能及其相应的锂负极在循环后的表面形貌,结果表明,使用HFE-0.5电解质的锂硫电池在0.1 C的倍率下循环100圈后仍可保持706 mAh/g的放电比容量,容量保持率达到84.59%,循环性能明显优于未添加HFE的电解质。此外,使用HFE-0.5电解质的磷酸铁锂电池在0.2 C的倍率下循环110圈后的放电比容量仍可达到117.2 mAh/g,说明所制备的凝胶聚合物电解质也可适用于磷酸铁锂电池体系。本文设计的阻燃凝胶聚合物电解质有助于推动锂硫电池的发展和应用。

关键词：锂硫电池阻燃凝胶聚合物电解质 1,1,2,2-四氟乙基-2,2,3,3-四氟丙基醚电化学性能

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Photovoltaic properties of ferroelectric solar cells based on polycrystalline BiFeO_3 films sputtered on indium tin oxide substrates

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Science China(Physics,Mechanics & Astronomy) 2015年第3期58卷 76-81页

作者： ding jianning CHEN MengJiao QIU JianHua YUAN NingYi Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou University Center for Low-Dimensional Materials Micro-Nano Devices and Systems Changzhou University Jiangsu Key Laboratory for Solar Cell Materials and Technology Changzhou University

To study the ferroelectric photovoltaic effect based on polycrystalline films, preparation of high-quality polycrystalline films with low leakage and high remnant polarization is essential. Polycrystalline BiFeO3 （BFO） thin films with extremely large remnant polarization （2Pr = 180 ~aC/cm2） were successfully deposited on glass substrates coated with indium tin oxide using a modified radio frequency magnetron sputtering method. Symmetric and asymmetric cells were constructed to investigate the ferroelectric photovoltaic effect in order to understand the relationship between polarization and photovoltaic response. All examined cells showed polarization-induced photovoltaic effect. Our findings also showed that the ferroelectric photovoltaic effect is highly dependent on the material used for the top electrode and the thickness of the polycrystalline film.

关键词： polycrystalline BiFeO3 photovoltaic effect ferroelectric solar cells Indium tin oxide substrate

Thermocapillary migration mechanism of molten silicon droplets on horizontal solid surfaces

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Friction 2018年第1期6卷 62-74页

作者： Tao SUN Cunhua JIANG jianning ding Ningyi YUAN School of Mechanical Engineering Changzhou University Collaborative Innovation Center of Photovoltaic Science and Engineering the Breeding Construction Point of State Key Laboratory of Photovoltaic Engineering Science

Effective lubrication under extreme conditions such as high temperature is of considerable importance to ensure the reliability of a mechanical system. New lubricants that can endure high temperatures should be studied and employed as alternatives to traditional oil-based lubricant. In this paper, a thermocapillary model of a silicone-oil droplet is developed by solving the Navier–Stokes and energy equations to obtain the flow, pressure, and temperature fields. This is accomplished using a conservative microfluidic two-phase flow level set method designed to track the interface between two immiscible fluids. The numerical simulation accuracy is examined by comparing the numerical results with experimental results obtained for a silicone-oil droplet. Hence, the movement and deformation of molten silicon droplets on graphite and corundum are numerically simulated. The results show that a temperature gradient causes a tension gradient on the droplet surface, which in turn creates a thermocapillary vortex. As the vortex develops, the droplet migrates to the low-temperature zone. In the initial stage, the molten silicon droplet on the corundum substrate forms two opposite vortex cells, whereas two pairs of opposite vortices are formed in the silicone fluid on the graphite substrate. Multiple vortex cells gradually develop into a single vortex cell, and the migration velocity tends to be stable. The greater the basal temperature gradient, the stronger the internal thermocapillary convection of the molten silicon droplet has, which yields higher speeds.

关键词： molten silicon droplet temperature gradient thermocapillary migration

Energy storage for black start services:A review

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International Journal of Minerals,Metallurgy and Materials 2022年第4期29卷 691-704页

作者： Yanqi Zhao Tongtong Zhang Li Sun Xiaowei Zhao Lige Tong Li Wang jianning ding Yulong ding School of Mechanical Engineering Jiangsu UniversityZhenjiang 212013China Jiangsu Collaborative Innovation Centre of Photovoltaic Science and Engineering Changzhou UniversityChangzhou 213164China Birmingham Centre for Energy Storage&School of Chemical Engineering University of BirminghamBirmingham B152TTUnited Kingdom School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Intelligent Control&Smart Energy(ICSE)Research Group&School of Engineering University of WarwickCoventry CV47ALUnited Kingdom School of Energy and Environmental Engineering University of Science and Technology BeijingBeijing 100083China

With the increasing deployment of renewable energy-based power generation plants,the power system is becoming increasingly vulnerable due to the intermittent nature of renewable energy,and a blackout can be the worst *** current auxiliary generators must be upgraded to energy sources with substantially high power and storage capacity,a short response time,good profitability,and minimal environmental *** in the power restoration of renewable energy generators should also be *** different energy storage methods can store and release electrical/thermal/mechanical energy and provide flexibility and stability to the power ***,a review of the use of energy storage methods for black start services is provided,for which little has been discussed in the ***,the challenges that impede a stable,environmentally friendly,and cost-effective energy storage-based black start are *** energy storagebased black start service may lack supply ***,the typical energy storage-based black start service,including explanations on its steps and configurations,is *** start services with different energy storage technologies,including electrochemical,thermal,and electromechanical resources,are *** suggest that hybridization of energy storage technologies should be developed,which mitigates the disadvantages of individual energy storage methods,considering the deployment of energy storage-based black start services.

关键词： black start renewable energy electrochemical energy storage thermal energy storage electromechanical energy storage hybrid energy storage

Effect of Nd2O3 doping on the electrical properties of Ba0.96Ca0.04Ti0.90Sn0.10O3 ceramics

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Journal of Rare Earths 2018年第7期36卷 745-749页

作者： Zhihui Chen Zhiwei Li Minggang Ma Tianxiang Zhao Jianhua Qiu jianning ding School of Materials Science and Engineering Jiangsu Collaborative Innovation Center of Photovoltaic Science and EngineeringJiangsu Province Cultivation Base for State Key Laboratory of Photovoltaic Science and TechnologyChangzhou UniversityChangzhou 213164China Benxi Iron and Steel Company Limited Benxi 117100China

The Ba（0.96）Ca（0.04）Ti（0.90）Sn（0.10）O3-xNd2 O3（x = 0-0.08%） ceramics were prepared via traditional solid-state sintering method. The influences of Nd3＋ substitution on the phase structure, dielectric properties,piezoelectric and ferroelectric properties of the ceramics were investigated. All the samples possess pure BaTiO3-type perovskite structure. MPB with orthorhombic and tetragonal phase coexist at around x = 0.03-0.04. Nd^（3＋） doping decreases both Tc and T（O-T） to lower temperature. All the samples exhibit an intermediate state with the coexistence of ferroelectric and diffuse relaxor ferroelectric behavior with the addition of Nd^（3＋）. The electric properties of the ceramics were optimized at x = 0.03 with d33, Kp, εr and Pr values of 545 pC/N, 51.9%, 24,412 and 10.74 μC/cm^2.

关键词： Nd doped BCTS ceramics Piezoelectric properties Dielectric properties Ferroelectric properties Rare earths

MECHANICAL DEFLECTION OF POLYSILICON MICROCANTILEVER BEAMS USING NANOINDENTATION

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Chinese Journal of Mechanical Engineering 2000年第4期13卷 251-257页

作者： ding jianning Meng Yonggang Wen Shizhu (The National Tribology laboratory, Qinghua University) 清华大学摩擦学国家重点实验室北京

The validity of a novel, direct and convenient method for micromechanical property measurements by beam bending using a nanoindenter is demonstrated. This method combines a very high load resolution with a nanometric precision in the determination of the microcantilever beam deflection. The method is described clearly. In the deflection of microbeams, the influence of the indenter tip pushing into the top of the microbeams and the curvature across its width must be considered. The measurements were made on single-layer, micro-thick, several kinds of width and length polysilicon beams that were fabricated using conventional integrated circuit (IC) fabrication techniques. The elastic of a polysilicon microcantilever beam will vary linearly with the force and the deformation is thought to be elastic. Furthermore, it suggests that Young modulus of the beam can be determined from the slope of this linear relation. From the load deflection data acquired during bending the mechanical properties of the thin films were determined. Measured Young modulus is 137 GPa with approximately a ±2.9%～±6.3% difference in Young modulus.

关键词： Mechanical properties Micromechanical devices Thin films Polysilicon Nanoindentation