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A compliant surgical robotic instrument with integrated IPMC sensing and actuation

International Journal of smart and Nano Materials 2012年第3期3卷 188-203页

作者： A.J.McDaid s.q.xie K.C.Aw Mechanical Engineering Department University of AucklandAuckland 1142New Zealand

Robotic assisted surgery is becoming widely adopted by surgeons for a number of reasons,which include improved instrumentation control and dexterity as well as faster patient recovery times and cosmetic *** assisted surgery is currently one of the fastest growing applications in *** the traditional robotic actuators which are currently used have advanced performance which can,in some aspects,surpass that of humans,they simply do not have the capabilities and diversity required to meet the demand for new applications in robotic *** transducers which have advanced capabilities and which allow safe operation in delicate environments are *** polymer-metal composites(IPMCs)have extensive desirable characteristics when compared with traditional actuators and as their transduction mechanisms can mimic biological muscle they have much potential for future advanced biomedical and surgical *** this research,a complete two degree-of-freedom(2DOF)surgical robotic instrument has been developed,which with the attachment of surgical tools(scalpel,etc.)has the ability to undertake surgical *** system integrates an IPMC sensor and actuator at each joint.A gain scheduled(Gs)controller,which is tuned with an iterative feedback tuning(IFT)algorithm,has been developed to ensure an accurate and adaptive *** main advantages of this device over traditional devices are the improved safety through a natural compliance of the joints as well as the mechanical simplicity which ensures ease of miniaturisation for minimally invasive surgery(MIs).The components of the system have been tested and shown to have the capabilities required to operate the device for certain surgical procedures,specifically a device work envelope of 1600 mm^(2),compliance of 0.0668 m/N while still maintaining enough force to cut tissue,IPMC sensor accuracy between 3-22%and a control system which has shown to guarantee zero steady state error.

关键词： ionic polymer-metal composite surgical robotics iterative feedback tuning

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Development of an ionic polymer-metal composite stepper motor using a novel actuator model

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International Journal of smart and Nano Materials 2010年第4期1卷 261-277页

作者： A.J.McDaid K.C.Aw K.Patel s.q.xie E.Haemmerle Department of Mechanical Engineering The University of AucklandNew Zealand

A novel ionic polymer–metal composite(IPMC)actuated stepper motor was developed in order to demonstrate an innovative design process for complete IPMC *** motor was developed by utilizing a novel model for IPMC actuators integrated with the complete mechanical model of the *** dynamic,nonlinear IPMC model can accurately predict the displacement and force actuation in air for a large range of input voltages as well as accounting for interactions with mechanical systems and external *** integrating this geometrically scalable IPMC model with a mechanical model of the motor mechanism an appropriate size IPMC strip has been chosen to achieve the required motor *** entire integrated system has been simulated and its performance *** system has been built and the experimental results validated to show that the motor works as simulated and can indeed achieve continuous 360rotation,similar to conventional *** has proven that the model is an indispensable design tool for integrated IPMC actuators into real *** newly developed system has demonstrated the complete design process for smart material actuator systems,representing a large step forward and aiding in the progression of IPMCs towards wide acceptance as replacements for traditional actuators.

关键词： ionic polymer-metal composite(IPMC) stepper motor mechanical design model application

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A Bayesian modeling approach to bi-directional pedestrian flows in carnival events

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Frontiers of Engineering Management 2017年第4期4卷 483-489页

作者： s.q.xie s.C.WONG William H.K.LAM Department of Civil Engineering The University of Hong Kong Department of Civil and Environmental Engineering The Hong Kong Polytechnic University

Bi-directional pedestrian flows are common at crosswalks, footpaths, and shopping areas. However, the properties of pedestrian movement may vary in urban areas according to the type of walking facility. In recent years,crowd movements at carnival events have attracted the attention of researchers. In contrast to pedestrian behavior in other walking facilities, pedestrians whose attention is attracted by carnival displays or activities may slow down and even stop walking. The Lunar New Year Market is a traditional carnival event in Hong Kong held annually one week before the Lunar New Year. During the said event,crowd movements can be easily identified, particularly in Victoria Park, where the largest Lunar New Year Market in Hong Kong is hosted. In this study, we conducted a videobased observational survey to collect pedestrian flow and speed data at the Victoria Park Lunar New Year Market on the eve of the Lunar New Year. Using the collected data, an extant mathematical model was calibrated to capture the relationships between the relevant macroscopic quantities,thereby providing insight into pedestrian behavior at the carnival event. Bayesian inference was employed to calibrate the model by using prior data obtained from a previous controlled experiment. Results obtained enhance our understanding of crowd behavior under different conditions at carnival events, thus facilitating the improvement of the safety and efficiency of similar events in the future.

关键词： pedestrian flow model bi-directional interactions empirical studies Bayesian inference

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Local-contrastive-learning machine with both generalization and adversarial robustness: A statistical physics analysis

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science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 109-123页

作者： Mingshan xie Yuchen Wang Haiping Huang PMI Lab School of Physics Sun Yat-sen University Guangdong Provincial Key Laboratory of Magnetoelectric Physics and Devices Sun Yat-sen University

Distinct from human cognitive processing, deep neural networks trained by backpropagation can be easily fooled by adversarial examples. To design a semantically meaningful representation learning, we discard backpropagation, and instead, propose a local contrastive learning, where the representations for the inputs bearing the same label shrink(akin to boson) in hidden layers,while those of different labels repel(akin to fermion). This layer-wise learning is local in nature, being biologically plausible.A statistical mechanics analysis shows that the target fermion-pair-distance is a key parameter. Moreover, the application of this local contrastive learning to MNIsT benchmark dataset demonstrates that the adversarial vulnerability of standard perceptron can be greatly mitigated by tuning the target distance, i.e., controlling the geometric separation of prototype manifolds.

关键词： machine learning statistical mechanics adversarial robustness neural networks

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FK506 contributes to peripheral nerve regeneration by inhibiting neuroinflammatory responses and promoting neuron survival

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Neural Regeneration Research 2025年第7期20卷 2108-2115页

作者： Yuhui Kou Zongxue Jin Yusong Yuan Bo Ma Wenyong xie Na Han Department of Trauma and Orthopedics Peking University People’s HospitalBeijingChina National Center for Trauma Medicine Peking University People’s HospitalBeijingChina Key Laboratory of Trauma and Neural Regeneration(Peking University) Ministry of EducationBeijingChina Trauma Medicine Center Peking University People’s HospitalBeijingChina Department of Orthopedics China-Japan Friendship HospitalBeijingChina

FK506(Tacrolimus)is a systemic immunosuppressant approved by the *** and Drug ***506 has been shown to promote peripheral nerve regeneration,however,its precise mechanism of action and its pathways remain *** this study,we established a rat model of sciatic nerve injury and found that FK506 improved the morphology of the injured sciatic nerve,increased the numbers of motor and sensory neurons,reduced inflammatory responses,markedly improved the conduction function of the injured nerve,and promoted motor function *** findings suggest that FK506 promotes peripheral nerve structure recovery and functional regeneration by reducing the intensity of inflammation after neuronal injury and increasing the number of surviving neurons.

关键词： FK506 inflammation motor neurons nerve regeneration neuron peripheral nerve injury sensory neurons

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Observation of topological charge transformations in acoustic vortex using passive periodic systems

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science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 140-147页

作者： Di-Chao Chen xie Liu Changqing Xu Da-Jian Wu Ying Cheng Xiao-Jun Liu school of Physics and Technology Nanjing Normal University Key Laboratory of Modern Acoustics School of Physics Nanjing University

Vortex transmutation utilizes a periodic system, which not only enables the alteration of the topological charge(TC) of unstable input vortices but also facilitates their transformation into stable structures. This approach is crucial for investigating the characteristics of vortices in various wave systems. Here, we achieve acoustic vortex TC transmutation by employing a welldesigned dual-structured plate external system(DPEs). The interactions between the acoustic vortex and the finite-order discrete rotational symmetry lead to the transformation of its topological charge when complete rotational symmetry is broken to Nthorder discrete symmetry. Our results experimentally demonstrate the acoustic vortex TC transmutation based on passive artificial structures, enabling numerous applications in particle manipulation and information multiplexing as well as advancing our understanding and control over free-space acoustic vortices.

关键词： acoustic vortex topological charge transformation artificial structure

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study on the hydrogen absorption properties of a YGdTbDyHo rare-earth high-entropy alloy

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 127-135页

作者： Tongyue Li Ziliang xie Wenjiao Zhou Huan Tong Dawen Yang Anjia Zhang Yuan Wu Xiping song state Key Laboratory for Advanced Metals and Materials University of Science and Technology BeijingBeijing 100083China Whole Win(Beijing)Materials sci.&Tech.Co. Ltd.Beijing 100083China

This study investigated the microstructure and hydrogen absorption properties of a rare-earth high-entropy alloy(HEA),*** indicated that the YGdTbDyHo alloy had a microstructure of equiaxed grains,with the alloy elements distributed *** hydrogen absorption,the phase structure of the HEA changed from a solid solution with an hexagonal-close-packed(HCP)structure to a high-entropy hydride with an faced-centered-cubic(FCC)structure without any secondary phase *** alloy demonstrated a maximum hydrogen storage capacity of 2.33 H/M(hydrogen atom/metal atom)at 723 K,with an enthalpy change(ΔH)of-141.09 kJ·mol^(-1)and an entropy change(Δs)of-119.14 J·mol^(-1)·K^(-1).The kinetic mechanism of hydrogen absorption was hydride nucleation and growth,with an apparent activation energy(E_(a))of 20.90 kJ·mol^(-1).Without any activation,the YGdTbDyHo alloy could absorb hydrogen quickly(180 s at 923 K)with nearly no incubation period *** reason for the obtained value of 2.33 H/M was that the hydrogen atoms occupied both tetrahedral and octahedral *** results demonstrate the potential application of HEAs as a high-capacity hydrogen storage material with a large H/M ratio,which can be used in the deuterium storage field.

关键词： rare-earth high-entropy alloy hydrogen absorption capacity pressure–composition–temperature curves kinetics

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Actively tunable electromagnetically induced transparency in hybrid Dirac-VO2 metamaterials

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Optoelectronics Letters 2025年第1期21卷 13-20页

作者： DI Ke xie Meng XIA Huarong CHENG Anyu LIU Yu DU Jiajia Department of Optoelectronic Engineering Chongqing University of Post and Telecommunications Chongqing Key Laboratory of Autonomous Navigation and Microsystem Chongqing University of Posts and Telecommunications Department of Automation Chongqing University of Post and Telecommunications

In this paper, we present a metamaterial structure of Dirac and vanadium dioxide（VO2） and investigate its optical properties using the finite-difference time-domain（FDTD） technique. Using the phase transition feature of VO2, the design can realize active tuning of the plasmon induced transparency（PIT） effect at terahertz frequency, thereby converting from a single PIT to a double-PIT. When VO2is in the insulating state, the structure is symmetric to obtain a single-band PIT effect. When VO2is in the metallic state, the structure turns asymmetric to realize a dual-band PIT effect. This design provides a reference direction for the design of actively tunable metamaterials. Additionally, it is discovered that the transparent window's resonant frequency and the Fermi level in this structure have a somewhat linear relationship. In addition, the structure achieves superior refractive index sensitivity in the terahertz band, surpassing 1 THz/RIU. Consequently, the design exhibits encouraging potential for application in refractive index sensors and optical switches.

关键词： Transparency

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Bioinspired Ultrasensitive Flexible strain sensors for Real‑Time Wireless Detection of Liquid Leakage

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Nano-Micro Letters 2025年第3期17卷 310-327页

作者： Weilong Zhou Yu Du Yingying Chen Congyuan Zhang Xiaowei Ning Heng xie Ting Wu Jinlian Hu Jinping qu Key Laboratory of Material Chemistry for Energy Conversion and storage Ministry of EducationHubei Key Laboratory of Material Chemistry and Service Failure and Hubei Engineering Research Center for Biomaterials and Medical Protective MaterialsSchool of Chemistry and Chemical EngineeringHuazhong University of Science and TechnologyWuhan 430074People’s Republic of China school of Materials science and Engineering Wuhan Institute of TechnologyWuhan 430205People’s Republic of China Department of Biomedical Engineering City University of Hong KongHong KongSAR 999077People’s Republic of China

Liquid leakage of pipeline networks not only results in considerableresource wastage but also leads to environmental pollution and ecological *** response to this global issue, a bioinspired superhydrophobic thermoplastic polyurethane/carbon nanotubes/graphene nanosheets flexible strain sensor (TCGs) hasbeen developed using a combination of micro-extrusion compression molding andsurface modification for real-time wireless detection of liquid leakage. The TCGsutilizes the synergistic effects of Archimedean spiral crack arrays and micropores,which are inspired by the remarkable sensory capabilities of scorpions. This designachieves a sensitivity of 218.13 at a strain of 2%, which is an increase of 4300%. Additionally, it demonstrates exceptional durability bywithstanding over 5000 usage cycles. The robust superhydrophobicity of the TCGs significantly enhances sensitivity and stability indetecting small-scale liquid leakage, enabling precise monitoring of liquid leakage across a wide range of sizes, velocities, and compositionswhile issuing prompt alerts. This provides critical early warnings for both industrial pipelines and potential liquid leakage scenariosin everyday life. The development and utilization of bioinspired ultrasensitive flexible strain sensors offer an innovative and effectivesolution for the early wireless detection of liquid leakage.

关键词： Thermoplastic polyurethane Bioinspired Cracks Liquid leakage Flexible strain sensor

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Advances in Graphene‑Based Electrode for Triboelectric Nanogenerator

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Nano-Micro Letters 2025年第1期17卷 378-403页

作者： Bin xie Yuanhui Guo Yun Chen Hao Zhang Jiawei Xiao Maoxiang Hou Huilong Liu Li Ma Xin Chen Chingping Wong state Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of TechnologyGuangzhou 510006People’s Republic of China school of Electromechanical Engineering Guangdong University of TechnologyGuangzhou 510006People’s Republic of China school of Materials science and Engineering Georgia Institute of TechnologyAtlantaGA 30332USA

With the continuous development of wearable electronics,wireless sensor networks and other micro-electronic devices,there is an increasingly urgent need for miniature,flexible and efficient nanopower generation *** nanogenerator(TENG)technology can convert small mechanical energy into electricity,which is expected to address this *** the core component of TENG,the choice of electrode materials significantly affects its *** metal electrode materials often suffer from problems such as durability,which limits the further application of ***,as a novel electrode material,shows excellent prospects for application in TENG owing to its unique structure and excellent electrical *** review systematically summarizes the recent research progress and application prospects of TENGs based on graphene *** precision processing methods of graphene electrodes are introduced,and the applications of graphene electrode-based TENGs in various scenarios as well as the enhancement of graphene electrodes for TENG performance are *** addition,the future development of graphene electrode-based TENGs is also prospectively discussed,aiming to promote the continuous advancement of graphene electrode-based TENGs.

关键词： Triboelectric nanogenerator Precision processing Graphene electrode self-powered sensor

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