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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第5期25卷 357-381页

作者： Yakun ZHANG Guofang GONG huayong yang Jianbin LI Liujie JING State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China China Railway Engineering Equipment Group Co. Lid.Zhengzhou 450016China Maha Fluid Power Research Center Purdue UniversityWest LafayetteIN 47905USA

Advances in intelligent shield machines reflect an evolving trend from traditional tunnel boring machines(TBMs)to tunnel boring robots(TBRs).This shift aims to address the challenges encountered by the conventional shield machine industry arising from construction environment and manual operations.This study presents a systematic review of intelligent shield machine technology,with a particular emphasis on its smart operation.Firstly,the definition,meaning,contents,and development modes of intelligent shield machines are proposed.The development status of the intelligent shield machine and its smart operation are then presented.After analyzing the operation process of the shield machine,an autonomous operation framework considering both stand-alone and fleet levels is proposed.Challenges and recommendations are given for achieving autonomous operation.This study offers insights into the essence and developmental framework of intelligent shield machines to propel the advancement of this technology.

关键词： Intelligent shield machine Tunnel boring machine(TBM) Tunnel boring robot(TBR) Self-driving Autonomous control Shield machine

A laser-engraved wearable gait recognition sensor system for exoskeleton robots

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Microsystems & Nanoengineering 2024年第2期10卷 269-277页

作者： Maowen Sun Songya Cui Zezheng Wang Huayu Luo huayong yang Xiaoping Ouyang Kaichen Xu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou310027China School of Information and Electrical Engineering Hangzhou City UniversityHangzhou310015China

As a reinforcement technology that improves load-bearing ability and prevents injuries,assisted exoskeleton robots have extensive applications in freight transport and health care.The perception of gait information by such robots is vital for their control.This information is the basis for motion planning in assistive and collaborative functions.Here,a wearable gait recognition sensor system for exoskeleton robots is presented.Pressure sensor arrays based on laser-induced graphene are developed with flexibility and reliability.Multiple sensor units are integrated into an insole to detect real-time pressure at key plantar positions.In addition,the circuit hardware and the algorithm are designed to reinforce the sensor system with the capability of gait recognition.The experimental results show that the accuracy of gait recognition by the proposed system is 99.85%,and the effectiveness of the system is further verified through testing on an exoskeleton robot.

关键词： hardware robot skeleton

Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing

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The Innovation 2024年第1期5卷 59-69页

作者： Zhongdong Jiao Zhenhan Hu Yuhao Shi Kaichen Xu Fangye Lin Pingan Zhu Wei Tang Yiding Zhong huayong yang Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Tightly integrating actuation,computation,and sensing in soft materials allows soft robots to respond autonomously to their environments.However,fusing these capabilities within a single soft module in an effi-cient,programmable,and compatible way is still a significant challenge.Here,we introduce a strategy for integrating actuation,computation,and sensing capabilities in soft origami.Unified and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits,similar to LEGO bricks.We built an untethered autonomous soft turtle that is able to sense stimuli,store data,process information,and perform swimming movements.The function multiplexing and signal compatibility of the origami minimize the number of soft devices,thereby reducing the complexity and redundancy of soft robots.Moreover,this origami also exhibits strong damage resistance and high durability.We envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.

关键词： integrating autonomous computation

Multifunctional Flexible Humidity Sensor Systems Towards Noncontact Wearable Electronics

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Nano-Micro Letters 2022年第9期14卷 187-220页

作者： Yuyao Lu Geng yang Yajing Shen huayong yang Kaichen Xu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027People’s Republic of China Department of Biomedical Engineering City University of Hong KongHong KongPeople’s Republic of China

In the past decade,the global industry and research attentions on intelligent skin-like electronics have boosted their applications in diverse fields including human healthcare,Internet of Things,human–machine interfaces,artificial intelligence and soft robotics.Among them,flexible humidity sensors play a vital role in noncontact measurements relying on the unique property of rapid response to humidity change.This work presents an overview of recent advances in flexible humidity sensors using various active functional materials for contactless monitoring.Four categories of humidity sensors are highlighted based on resistive,capacitive,impedance-type and voltage-type working mechanisms.Furthermore,typical strategies including chemical doping,structural design and Joule heating are introduced to enhance the performance of humidity sensors.Drawing on the noncontact perception capability,human/plant healthcare management,human-machine interactions as well as integrated humidity sensor-based feedback systems are presented.The burgeoning innovations in this research field will benefit human society,especially during the COVID-19 epidemic,where cross-infection should be averted and contactless sensation is highly desired.

关键词： Flexible electronics Flexible humidity sensors Noncontact detection Healthcare monitoring Human-machine interactions COVID-19 epidemic

Bio-manufacturing innovation lights up the future Report from the Second Bio-Design & Manufacturing Youth Forum

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Bio-Design and Manufacturing 2023年第2期6卷 204-215页

作者： Liang Ma huayong yang State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China School of Mechanical Engineering Zhejiang UniversityHangzhou 310058China The Editorial Office of Bio-Design and Manufacturing Zhejiang UniversityHangzhou 310058China

Bio-manufacturing,a frontier interdisciplinary subject,is a promising field full of creative thinking and innovation[1].In order to create a platform for young scientists and students in the bio-manufacturing field to have a good chance of communication and discussion,based on the success of First Bio-Design&Manufacturing Youth Forum in 2021[2],the Second Bio-Design&Manufacturing Youth Forum chaired by the editor-in-chief Academician huayong yang and jointly sponsored by the journal of Bio-Design and Manufacturing,School of Mechanical Engineering,Zhejiang University and the State Key Laboratory of Fluid Power and Mechatronic Systems was successfully held in Hangzhou on November 19,2022.Ten prestigious young scientists were invited to deliver a speech on their own research both onsite and online。

关键词： Academician lights jointly

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What’s next toward the bio-design and manufacturing field?Academic and humanistic interactions echo each other in BDMC2023

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Bio-Design and Manufacturing 2023年第6期6卷 735-741页

This report provides a highlight of the third International Conference on Biomaterials,Bio-Design and Manufacturing(BDMC2023).BDMC2023,based on the journal of Bio-Design and Manufacturing(BDM)founded by Zhejiang Unive... 详细信息

关键词： journal BDM Singapore

Design of a High Precision Multichannel 3D Bioprinter

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 127-146页

作者： Jintao Li Bin Zhang Yichen Luo huayong yang State Key Laboratory of Fluid Power Transmission and Control School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Three-dimensional(3D)printing technology is expected to solve the organ shortage problem.However,owing to the accuracy limitations,it is difficult for the current bioprinting technology to achieve an accurate control of the spatial position and distribution of a single cell or single component droplet.In this study,to accurately achieve the directional deposition of different cells and biological materials in the spatial position for the construction of large transplantable tissues and organs,a high-precision multichannel 3D bioprinter with submicron-level motion accuracy is designed,and concurrent and synergistic printing methods are proposed.Based on the high-precision motion characteristics of the gantry structure and the requirements of concurrent and synergistic printing,a 3D bioprint-ing system with a set of 6 channels is designed to achieve six-in-one printing.Based on the Visual C++environ-ment,a control system software that integrates the programmable multi-axis controller(PMAC)motion,pneumatic,and temperature control subsystems was developed and designed.Finally,based on measurements and experiments,the 3D bioprinter and its control system was verified to fulfil the requirements of multichannel,concurrent,and syn-ergistic printing with submicron-level motion accuracy,significantly shortening the printing time and improving the printing efficiency.This study not only provides an equipment basis for printing complex heterogeneous tissue structures,but also improves the flexibility and functionality of bioprinting,and ultimately makes the construction of complex multicellular tissues or organs possible.

关键词： 3D bioprinting High precision Concurrent and synergistic printing Multichannel Control system Six-in-one printing

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Human Digital Twin(HDT)Driven Human-Cyber-Physical Systems:Key Technologies and Applications

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Chinese Journal of Mechanical Engineering 2022年第1期35卷 1-6页

作者： Baicun Wang Huiying Zhou Geng yang Xingyu Li huayong yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China Department of Mechanical Engineering University of MichiganAnn ArborMI 48109USA

1 Introduction Traditional industrial systems,where physical systems,i.e.,robots and machines,replaced manual labor mostly,are often known as human-physical system(HPS)[1].Cyber system,a major outcome of the digitalization revolution,is increasingly adopted in HPS and continuously evolving with the development of advanced manufacturing technologies,leading to the human-cyber-physical system(HCPS)[2].

关键词： system mostly Key

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Biomanufacturing in Japan:frontier research from 2018 to 2023

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Bio-Design and Manufacturing 2023年第6期6卷 617-645页

作者： Qing Cao yangqianhui Zhang Runyi Deng Kai Ren huayong yang Dong Han State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China School of Mechanical Engineering Zhejiang UniversityHangzhou 310058China

Biomanufacturing(BM)is a multidisciplinary area incorporating the characteristics of living organisms and engineering principles to create valuable products for various sectors,including medicine,energy,and the environment.BM has undergone a remarkable transformation in the last two decades,entering the era of BM4.0 and becoming a pivotal driver of the sustainable revolution.Notably,Japan has made significant advances in BM,contributing to its development through the creation of innovative materials,advanced processes,and interdisciplinary applications.However,because of certain development policies,this research has not been widely recognized on an international level.This paper provides a comprehensive summary of the research progress made by renowned Japanese laboratories and researchers in biomedical materials,bio-three-dimensional(3D)printing,and biomedical applications in the last five years.Their unique contributions are introduced and analyzed,illuminating the distinctive approaches and breakthroughs within each domain.Additionally,this review highlights the current challenges and prospects of BM.The viewpoints presented in this paper are intended to serve as a valuable reference for scholars studying BM in Japan.

关键词： Biomanufacturing(BM) Japan Biomedical materials Bio-3D printing Biomedical applications

Phase-transforming mechanical metamaterials with dynamically controllable shape-locking performance

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National Science Review 2023年第9期10卷 270-285页

作者： Yiding Zhong Wei Tang Huxiu Xu Kecheng Qin Dong Yan Xujun Fan yang Qu Zhaoyang Li Zhongdong Jiao huayong yang Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University School of Mechanical Engineering Zhejiang University Institute of Process Equipment College of Energy EngineeringZhejiang University

Active mechanical metamaterials with customizable structures and deformations,active reversible deformation,dynamically controllable shape-lo cking performance and stretchability are highly suitable for applications in soft robotics and flexible electronics,yet it is challenging to integrate them due to their mutual conflicts.Here,we introduce a class of phase-transforming mechanical metamaterials(PMMs) that integrate the above properties.Periodically arranging basic actuating units according to the designed pattern configuration and positional relationship,PMMs can customize complex and diverse structures and deformations.Liquid-vapor phase transformation provides active reversible large deformation while a silicone matrix offers stretchability.The contained carbonyl iron powder endows PMMs with dynamically controllable shape-lo cking performance,thereby achieving magnetically assisted shape locking and energy storing in different working modes.We build a theoretical model and finite element simulation to guide the design process of PMMs,so as to develop a variety of PMMs with different functions suitable for different applications,such as a programmed PMM,reconfigurable antenna,soft lens,soft mechanical memory,biomimetic hand,biomime tic flytrap and self-contained soft gripper.PMMs are applicable to achieve various 2D deformations and 2D-to-3D deformations,and integrate multiple properties,including customizable structures and deformations,active reversible deformation,rapid reversible shape locking,adjustable energy storing and stretchability,which could open a new application avenue in soft robotics and flexible ele ctronics.

关键词： active mechanical metamaterials shape locking energy storage liquid–vapor phase transform soft robotics