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A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping

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Research 2021年第1期2021卷 1485-1494页

作者： Peng xu Xinyu Wang Siyuan Wang Tianyu Chen Jianhua Liu Jiaxi Zheng Wenxiang Li minyi xu Jin Tao Guangming Xie Marine Engineering College Dalian Maritime UniversityDalian 116026China College of Artificial Intelligence Nankai UniversityTianjin 300350China Department of Electrical Engineering and Automation Aalto UniversityEspoo 02150Finland Intelligent Biomimetic Design Lab College of EngineeringPeking UniversityBeijing 100871China Institute of Ocean Research Peking UniversityBeijing 100871China

Since designing efficient tactile sensors for autonomous robots is still a challenge,this paper proposes a perceptual system based on a bioinspired triboelectric whisker sensor(TWS)that is aimed at reactive obstacle avoidance and local mapping in unknown *** proposed TWS is based on a triboelectric nanogenerator(TENG)and mimics the structure of rat whisker *** operates to generate an output voltage via triboelectrification and electrostatic induction between the PTFE pellet and copper films(0.3 mm thickness),where a forced whisker shaft displaces a PTFE pellet(10 mm diameter).With the help of a biologically inspired structural design,the artificial whisker sensor can sense the contact position and approximate the external stimulation area,particularly in a dark *** highlight this sensor’s applicability and scalability,we demonstrate different functions,such as controlling LED lights,reactive obstacle avoidance,and local mapping of autonomous surface *** results show that the proposed TWS can be used as a tactile sensor for reactive obstacle avoidance and local mapping in robotics.

关键词： whisker obstacle autonomous

Highly adaptive triboelectric tactile sensor on the foot of autonomous wall-climbing robots for detecting the adhesion state and avoiding the hazard

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Nano Research 2024年第7期17卷 6518-6526页

作者： Zhaoyang Wang Jianhua Liu Ziyu Wang Chang Liu Qingyu Chen Chaofan Zhang Wenbo Zhang Jicang Si Xiu Xiao Peng xu minyi xu Dalian Key Lab of Marine Micro/Nano Energy and Self-powered System Marine Engineering CollegeDalian Maritime UniversityDalian 116026China Information Science and Technology College Dalian Maritime UniversityDalian 116026China Navigation College Dalian Maritime UniversityDalian 116026China Intelligent Biomimetic Design Lab College of EngineeringPeking UniversityBeijing 100871China

Due to the excellent maneuverability and obstacle crossing of legged robots,it is possible for an autonomous legged wallclimbing robots to replace manual inspection of ship exterior ***,when the magnetic adsorption legged wallclimbing robot steps on the convex point or convex line of the wall,or even when the robot missteps,the robot is likely to detach from the ferromagnetic ***,this paper proposes a tactile sensor for the legged magnetic adsorption wall-climbing robot to detect the magnetic adsorption state and improve the safety of the autonomous crawling of the *** tactile sensor mainly comprises a three-dimensional(3D)-printed shell,a tactile slider,and three isometric sensing units,with an optimized *** experiment shows that the triboelectric tactile sensor can monitor the sliding depth of the tactile slider and control the light-emitting device(LED)signal *** addition,in the demonstration experiment of detecting the adsorption state of the robot's foot,the triboelectric tactile sensor has strong adaptability to various ferromagnetic wall ***,this study establishes a robot gait control system to verify the feedback control ability of the triboelectric tactile *** results show that the robot equipped with the triboelectric tactile sensor can recognize the dangerous area on the crawling wall and autonomously avoid the ***,the proposed triboelectric tactile sensor has great potential in realizing the tactile sensing ability of robots and enhancing the safety and intelligent inspection of ultra-large vessels.

关键词： legged wall-climbing robot ship inspection tactile perception triboelectric sensor

A palm-like 3D tactile sensor based on liquid-metal triboelectric nanogenerator for underwater robot gripper

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Nano Research 2024年第11期17卷 10008-10016页

作者： Yuanzheng Li Bo Liu Peng xu Jianhua Liu Xirui Dai Aiqiang Yu Tianrun Wang Linan Guo Tangzhen Guan Liguo Song minyi xu Dalian Key Lab of Marine Micro/Nano Energy and Self-powered Systems Marine Engineering College Dalian Maritime University Dalian 116026 China Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing 100871 China Liquid Metal and Cryogenic Biomedical Research Center Technical Institute of Physics and Chemistry Chinese Academy of Sciences Beijing 100190 China

The highly sensitive and power efficient tactile sensors can provide grippers with vertical and shear forces from interactions with objects. In an ocean environment with low visual distance and high noise, sea otters can rely on their palms to accurately identify and grasp target objects without damage. Inspired by the structure of the sea otter’s palm, this paper proposes a distributed liquid metal-based three-dimensional biomimetic underwater triboelectric palm-like tactile sensor (UPTS) for feedback-controlled grippers. The device is mainly composed of a flexible shell, a flexible cover, a flexible support, a triboelectric sensing unit and a fixed shell. The force acting on the flexible cover causes the flexible cover and sensing unit to deform, so that the sensing unit undergoes a contact-separation process, thereby generating an electrical signal. UPTS has the capability to identify the magnitude and direction of force, with a direction recognition error angle within 5 degrees. Additionally, it can distinguish the hardness and shape of objects, achieving an accuracy rate of 100% and 99.75% respectively for the tested objects. The results indicate that UPTS can provide force feedback for underwater grippers, thereby assisting the grippers in better completing salvage task.

关键词： triboelectric nanogenerator liquid metal distributed tactile sensor feedback control

Deep-Learning-Assisted Underwater 3D Tactile Tensegrity

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Research 2023年第3期2023卷 683-695页

作者： Peng xu Jiaxi Zheng Jianhua Liu Xiangyu Liu Xinyu Wang Siyuan Wang Tangzhen Guan Xianping Fu minyi xu Guangming Xie Zhong Lin Wang Dalian Key Laboratory of Marine Micro/Nano Energy and Self-powered Systems Marine Engineering CollegeDalian Maritime UniversityDalian 116026China School of Information Science and Technology Dalian Maritime UniversityDalian 116026China Intelligent Biomimetic Design Lab College of EngineeringPeking UniversityBeijing 100871China Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of SciencesBeijing 100871China School of Materials Science and Engineering Georgia Institute of TechnologyAtlantaGA 30332-0245USA

The growth of underwater robotic applications in ocean exploration and research has created an urgent need for effective tactile ***,we propose an underwater 3-dimensional tactile tensegrity(U3DTT)based on soft self-powered triboelectric nanogenerators and deep-learning-assisted data *** device can measure and distinguish the magnitude,location,and orientation of perturbations in real time from both flow field and interaction with obstacles and provide collision protection for underwater vehicles *** is enabled by the structure that mimics terrestrial animals’musculoskeletal systems composed of both stiff bones and stretchable ***,when successfully integrated with underwater vehicles,the U3DTT shows advantages of multiple degrees of freedom in its shape modes,an ultrahigh sensitivity,and fast response times with a low cost and *** real-time 3-dimensional pose of the U3DTT has been predicted with an average root-mean-square error of 0.76 in a water pool,indicating that this developed U3DTT is a promising technology in vehicles with tactile feedback.

关键词： underwater tile stiff

On two distinct Reynolds number regimes of a turbulent square jet

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Theoretical & Applied Mechanics Letters 2015年第3期5卷 117-120页

作者： minyi xu Jianpeng Zhang Pengfei Li Jianchun Mi Marine Engineering College Dalian Maritime University State Key Laboratory of Turbulence & Complex Systems College of EngineeringPeking University

The effects of Reynolds number on both large-scale and small-scale turbulence properties are investigated in a square jet issuing from a square pipe. The detailed velocity fields were measured at five different exit Reynolds numbers of 8 × 10^3 〈 Re 〈 5 × 10^4. It is found that both large-scale properties （e.g,, rates of mean velocity decay and spread） and small-scale properties （e.g., the dimensionless dissipation rate constant A = εL/（u^2）^3/2） are dependent on Re for Re ≤ 3 ×10^4 or Reλ ≤ 190, but virtually become Re-independent with increasing Re or Reλ. In addition, for Reλ 〉 190, the value ofA = εL/（u^2）^3/2 in the present square jet converges to 0.5, which is consistent with the observation in direct numerical simulations of box turbulence, but lower than that in circular jet, plate wake flows, and grid turbulence. The discrepancies in critical Reynolds number and A = εL/（u^2）^3/2 among different turbulent flows most likely result from the flow type and initial conditions.

关键词： Square jet Hot-wire Reynolds number Small-scale turbulence Mean energy dissipation rate

Highly adaptive and broadband triboelectric energy harvester with stretching silicone rubber strip for variable harmonic frequency vibration

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Nano Research 2024年第5期17卷 4089-4099页

作者： Taili Du Dianlong Shen Ziyue Xi Hongyong Yu Fangyang Dong Cong Zhao Meixian Zhu Yongjiu Zou Peiting Sun minyi xu Dalian Key Laboratory of Marine Micro/Nano Energy and Self-powered Systems Marine Engineering CollegeDalian Maritime UniversityDalian 116026China Collaborative Innovation Research Institute of Autonomous Ship Dalian Maritime UniversityDalian 116026China

An enormous number of wireless sensing nodes(WSNs)are of great significance for the Internet of Things(IoT).It is tremendously prospective to realize the in-situ power supply of WSNs by harvesting unutilized mechanical vibration energy.A harmonic silicone rubber triboelectric nanogenerator(HSR-TENG)is developed focusing on ubiquitous constant working frequency *** unique design of the strip serving as a flexible resonator realizes both soft contact and high and broadband *** significant factors influencing the 1^(st)-order vibration mode of the strip are developed for realizing the harmonic frequency adaptation to external *** surface treatment of the strip improves the output performance of HSR-TENG by 49.1%as well as eliminates the adhesion *** HSR-TENG is able to achieve a voltage output bandwidth of 19 Hz under a vibration strength of 3.0,showing its broadband *** peak power density of 153.9 W/m^(3)is achieved and 12×0.5 W light-emitting diodes(LEDs)are successfully illuminated by the *** can continuously power a temperature sensor by harvesting the actual compressor vibration *** brief,the HSR-TENG provides a promising way for constant frequency vibration energy harvesting,so as to achieve in-situ power supply for the WSNs in the vicinity.

关键词： vibration energy harvesting triboelectric nanogenerator flexible silicone rubber strip harmonic vibration broadband

A humidity resistant and high performance triboelectric nanogenerator enabled by vortex-induced vibration for scavenging wind energy

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Nano Research 2022年第4期15卷 3246-3253页

作者： Yan Wang Tianyu Chen Shuowen Sun Xiangyu Liu Zhiyuan Hu Zhenhui Lian Long Liu Qiongfeng Shi Hao Wang Jianchun Mi Tongming Zhou Chengkuo Lee minyi xu Dalian Key Lab of Marine Micro/Nano Energy and Self-powered System Marine Engineering CollegeDalian Maritime UniversityDalian 116026China Center for Intelligent Sensors and MEMS(CISM) National University of Singapore Engineering Drive 3 Singapore 117576Singapore3 College of EngineeringPeking UniversityBeijing 100871China School of Civil Environmental and Mining EngineeringThe University of Western AustraliaWA 6009Australia

Wind energy is a promising renewable energy source for a low-carbon *** study is to develop a fully packaged vortexinduced vibration triboelectric nanogenerator(VIV-TENG)for scavenging wind *** VIV-TENG consists of a wind vane,internal power generation unit,an external frame,four springs,a square cylinder and a circular *** internal power generation unit consists of polytetrafluoroethylene(PTFE)balls,a honeycomb frame and two copper *** from most of the previous wind energy harvesting TENGs,the bouncing PTFE balls are fully packaged in the square *** distinct design separates the process of contact electrification from the external environment,and at the same time avoids the frictional wear of the ordinary wind energy harvesting *** corresponding VIV parameters are investigated to evaluate their influence on the vibration behaviors and the energy *** state of the VIV-TENG corresponds to the high output performance from the *** distinct,robust structure ensures the full-packaged VIV-TENG can harvest wind energy from arbitrary directions and even in undesirable weather *** study proposes a novel TENG configuration for harvesting wind energy and the VIV-TENG proves promising powering micro-electro-mechanical appliances.

关键词： vortex-induced vibration wind energy triboelectric nanogenerator self-powered

A bio-inspired and self-powered triboelectric tactile sensor for underwater vehicle perception

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npj Flexible Electronics 2022年第1期6卷 252-261页

作者： Peng xu Jianhua Liu Xiangyu Liu Xinyu Wang Jiaxi Zheng Siyuan Wang Tianyu Chen Hao Wang Chuan Wang Xianping Fu Guangming Xie Jin Tao minyi xu Dalian Key Laboratory of Marine Micro/Nano Energy and Self-powered Systems Marine Engineering CollegeDalian Maritime UniversityDalian 116026China Transportation Engineering College Dalian Maritime UniversityDalian 116026China School of Information Science and Technology Dalian Maritime UniversityDalian 116026China Intelligent Biomimetic Design Lab College of EngineeringPeking UniversityBeijing 100871China College of Artificial Intelligence Nankai UniversiyTianjin 300350China Silo AI Helsinki 00100Finland

Marine mammals relying on tactile perception for hunting are able to achieve a remarkably high prey capture rate without visual or acoustic ***,a self-powered triboelectric palm-like tactile sensor(TPTS)is designed to build a tactile perceptual system for underwater *** is enabled by a three-dimensional structure that mimics the leathery,granular texture in the palms of sea otters,whose inner neural architecture provides additional clues indicating the importance of tactile *** the assistance of palm structure and triboelectric nanogenerator technology,the proposed TPTS has the ability to detect and distinguish normal and shear external load in real-time and approximate the external stimulation area,especially not affected by the touch frequency,that is,it can maintain stable performance under high-frequency *** results show that the TPTS is a promising tool for integration into grippers mounted on underwater vehicles to complete numerous underwater tasks.

关键词： underwater mounted maintain

Distributed Self-triggered Circular Formation Control for Multi-robot Systems

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Distributed Self-triggered Circular Formation Control for Mu...