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A Piezoelectrically Driven Microrobot Using a Novel Monolithic Spatial Parallel Mechanism as Its Hip Joint

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Journal of Bionic Engineering 2024年第2期21卷 803-820页

作者： Guangping Wu Ziyang Wang Jiaxin Zhao feng Cui Xinghan Cai National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai Jiao Tong UniversityShanghai200240China Department of Micro-Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai200240China

Inspired by the fast,agile movements of insects,we present a 1.9 g,4.5 cm in length,piezoelectrically driven,quadrupedal *** microrobot uses a novel spatial parallel mechanism as its hip joint,which consists of two spatially orthogonal slider-crank *** mechanism maps two inputs of two independent actuators to the decoupled swing and lift outputs of a leg,and each leg can produce the closed trajectories in the sagittal plane necessary for robot ***,the kinematics of the transmission are analyzed,and the parameters of the flexure hinges are designed based on geometrical constraints and yield *** hip joints,legs and exoskeletons are integrated into a five-layer standard laminate for monolithic fabrication which is composed of two layers of carbon fiber,two layers of acrylic adhesive and a polyimide *** measured output force(15.97 mN)of each leg is enough to carry half of the robot’s weight,which is necessary for the robot to move *** has been proven that the robot can successfully perform forward and turning *** to the microrobot fabricated with discrete components,the monolithically fabricated microrobot is more capable of maintaining the original direction of locomotion when driven by a forward signal and has a greater speed,whose maximum speed is 25.05 cm/s.

关键词： Insect-like Crawling microrobot Piezoelectric drive Parallel mechanism Monolithic fabrication

Smart Gait:A Gait Optimization Framework for Hexapod Robots

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 146-159页

作者： Yunpeng Yin feng Gao Qiao Sun Yue Zhao Yuguang Xiao State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Lenovo Corporation ShanghaiChina AI Institute School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

The current gait planning for legged robots is mostly based on human presets,which cannot match the flexible characteristics of natural *** paper proposes a gait optimization framework for hexapod robots called Smart *** Gait contains three modules:swing leg trajectory optimization,gait period&duty optimization,and gait sequence *** full dynamics of a single leg,and the centroid dynamics of the overall robot are considered in the respective *** Smart Gait not only helps the robot to decrease the energy consumption when in locomotion,mostly,it enables the hexapod robot to determine its gait pattern transitions based on its current state,instead of repeating the formalistic clock-set step *** Smart Gait framework allows the hexapod robot to behave nimbly as a living animal when in 3D movements for the first *** Smart Gait framework combines offline and online optimizations without any fussy data-driven training procedures,and it can run efficiently on board in real-time after *** experiments are carried out on the hexapod robot *** results show that the energy consumption is reduced by 15.9%when in *** gait patterns can be generated spontaneously both in regular and challenge environments,and when facing external interferences.

关键词： Gait optimization Swing trajectory optimization Legged robot Hexapod robot

Sound event localization and detection based on deep learning

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Journal of Systems Engineering and Electronics 2024年第2期35卷 294-301页

作者： ZHAO Dada DING Kai QI Xiaogang CHEN Yu feng Hailin School of Mathematics and Statistics Xidian UniversityXi’an 710071China Science and Technology on Near-Surface Detection Laboratory Wuxi 214035China

Acoustic source localization(ASL)and sound event detection(SED)are two widely pursued independent research *** recent years,in order to achieve a more complete spatial and temporal representation of sound field,sound event localization and detection(SELD)has become a very active research *** paper presents a deep learning-based multioverlapping sound event localization and detection algorithm in three-dimensional ***-Mel spectrum and generalized cross-correlation spectrum are joined together in channel dimension as input *** features are classified and regressed in parallel after training by a neural network to obtain sound recognition and localization results *** channel attention mechanism is also introduced in the network to selectively enhance the features containing essential information and suppress the useless ***,a thourough comparison confirms the efficiency and effectiveness of the proposed SELD *** experiments show that the proposed algorithm is robust to reverberation and environment and can achieve higher recognition and localization accuracy compared with the baseline method.

关键词： sound event localization and detection(SELD) deep learning convolutional recursive neural network(CRNN) channel attention mechanism

Adaptive Event-Triggered Time-Varying Output Group Formation Containment Control of Heterogeneous Multiagent Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1398-1409页

作者： Lihong feng Bonan Huang Jiayue Sun Qiuye Sun Xiangpeng Xie College of Information Science and Engineering Northeastern UniversityShenyang 110819China College of Automation and College of Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023China IEEE

In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed *** MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,***,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected ***,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,***,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the ***,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno ***,a numerical simulation is intro-duced to confirm the validity of the proposed results.

关键词： Adaptive control event-triggered mechanisms for-mation containment(FC) heterogeneous multiagent systems time-varying group formation.

Data-driven Anomaly Detection Method Based on Similarities of Multiple Wind Turbines

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Journal of Modern Power Systems and Clean Energy 2024年第3期12卷 803-818页

作者： Xiangjun Zeng Ming Yang Chen feng Mingqiang Wang Lingqin Xia the College of Electrical Engineering&New Energy China Three Gorges UniversityYichang 443002China the Key Laboratory of Power System Intelligent Dispatch and Control Shandong UniversityJinan 250061China

The operating conditions of wind turbines(WTs)in the same wind farm(WF)may share similarities due to their shared manufacturing process,control strategy,and operating ***,the similarities of WTs are seldom considered in WT anomaly detection,resulting in the disregard of useful *** paper proposes a method to improve the reliability and accuracy of WT anomaly detection using the supervisory control and data acquisition(SCADA)data of multiple WTs in the same ***,a similarity assessment method based on a comparison of different observation time series is proposed,which objectively quantifies the similarities of WT operating ***,the SCADA data of the target WT and selected WTs that are similar are used to establish several estimation models through a long short-term memory(LSTM)*** models that exhibit good estimation performance are used to construct a combined estimation model that estimates the variations in the monitored variables of the target ***,an anomaly detection method that jointly compares the effective value and information entropy of the residuals is proposed to identify *** effectiveness and accuracy of the proposed method are verified using the data of two actual WFs.

关键词： Anomaly detection information entropy long short-term memory similarity assessment wind farm wind turbines

Polyphenol-mediated interfacial deposition strategy for supported manganese oxide catalysts with excellent pollutant degradation performance

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Chinese Chemical Letters 2024年第5期35卷 493-498页

作者： Dong Cheng Youyou feng Bingxi feng Ke Wang Guoxin Song Gen Wang Xiaoli Cheng Yonghui Deng Jing Wei The Key Laboratory of Biomedical Information Engineering of Ministry of Education State Key Lab of Transducer TechnologySchool of Life Science and TechnologyXi’an Jiaotong UniversityXi’an 710049China School of Environmental and Municipal Engineering Xi’an University of Architecture and TechnologyXi’an 710055China Department of Chemistry State Key Laboratory of Molecular Engineering of PolymersState Key Laboratory of Transducer TechnologyFudan UniversityShanghai 200433China Key Laboratory of Functional Inorganic Material Chemistry Ministry of EducationSchool of Chemistry and Materials ScienceHeilongjiang UniversityHarbin 150080China

In persulfate-based advanced oxidation process(PS-AOPs),fixing nanosized metal oxide on processable substrates is highly desirable to avoid the aggregation and loss of nanocatalysts during the practical ***,it is still challenging to develop a versatile strategy for the deposition of metal oxide nanocatalysts on various substrates with different physicochemical ***,polyphenols are utilized as a“molecular glue”and reductant to mediate the interfacial deposition of MnO_(2) nanocatalysts on different ***_(2) nanocatalysts were in-situ grown on macroscope mineral substrates(e.g.,airstone)via an interfacial redox strategy between tannic acid(TA)and oxidized KMnO4,and then employed as a fixed catalyst of peroxymonosulfate(PMS)activation for treating pharmaceutical and personal care products(PPCPs)in *** fixed MnO_(2) exhibited superior catalytic performance toward different PPCPS via a singlet oxygen(^(1)O_(2))-dominated nonradical oxidation *** in the secondary effluent of wastewater treatment plants could be effectively removed by a fixed-bed column of the fixed MnO_(2) with long term *** cycle of Mn^(4+)/Mn^(3+)and surface hydroxyl group of the fixed MnO_(2) was proved to be responsible for the activation of *** work provides a new avenue for developing fixed metal oxides for sustainable water treatment.

关键词： Redox strategy Manganese oxides Fixed catalyst Peroxymonosulfate PPCPs

Prediction of undeformed chip thickness distribution and surface roughness in ultrasonic vibration grinding of inner hole of bearings

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第4期25卷 311-323页

作者： Yanqin LI Daohui XIANG Guofu GAO feng JIAO Bo ZHAO School of Mechanical and Power Engineering Henan Polytechnic UniversityJiaozuo 454000China

Ultrasonic vibration grinding differs from traditional grinding in terms of its material removal *** randomness of grain-workpiece interaction in ultrasonic vibration grinding can produce variable chips and impact the surface roughness of ***,previous studies used iterative method to calculate the unformed chip thickness(UCT),which has low computational *** this study,a symbolic difference method is proposed to calculate the *** UCT distributions are obtained to describe the stochastic interaction characteristics of ultrasonic grinding ***,the UCT distribution characteristics under different machining parameters are ***,a surface roughness prediction model is established based on the UCT ***,the correctness of the model is verified by *** study provides a quick and accurate method for predicting surface roughness in longitudinal ultrasonic vibration grinding.

关键词： Ultrasonic vibration grinding Undeformed chip thickness(UCT) Distribution characteristics Surface roughness

Starlet:Network defense resource allocation with multi-armed bandits for cloud-edge crowd sensing in IoT

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Digital Communications and Networks 2024年第3期10卷 586-596页

作者： Hui Xia Ning Huang Xuecai feng Rui Zhang Chao Liu College of Computer Science and Technology Ocean University of ChinaQingdao266100China

The cloud platform has limited defense resources to fully protect the edge servers used to process crowd sensing data in Internet of *** guarantee the network's overall security,we present a network defense resource allocation with multi-armed bandits to maximize the network's overall ***,we propose the method for dynamic setting of node defense resource thresholds to obtain the defender(attacker)benefit function of edge servers(nodes)and ***,we design a defense resource sharing mechanism for neighboring nodes to obtain the defense capability of ***,we use the decomposability and Lipschitz conti-nuity of the defender's total expected utility to reduce the difference between the utility's discrete and continuous arms and analyze the difference ***,experimental results show that the method maximizes the defender's total expected utility and reduces the difference between the discrete and continuous arms of the utility.

关键词： Internet of things Defense resource sharing Multi-armed bandits Defense resource allocation

A robust viscoelastic surfactant tolerating 20% HCl up to 150℃ for oil well stimulation

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Petroleum Science 2024年第3期21卷 1865-1874页

作者： Ji Wang Ning Qi Hong-Yao Yin Yu-Jun feng Polymer Research Institute State Key Laboratory of Polymer Materials EngineeringSichuan UniversityChengdu610065SichuanPR.China Tianfu Yongxing Laboratory New Theory and Technology of CO_(2) Capture Research CenterChengdu610065SichuanPR China School of Petroleum Engineering China University of Petroleum(East China)Qingdao266580ShandongPR China

Viscoelastic surfactants(VES)are often used as viscous diverters in acidizing stimulation to prolong the acid consumption time and maximize zonal coverage of the acid for improving well ***,the ceiling temperature of commercial VES cannot exceed 120℃in practical use because of the poor thermal stability and fragile molecular structure,hindering their implementation in hightemperature oil reservoirs,i.e.,≥150℃.Here we synthesized a novel C22-tailed diamine,N-erucaminopropyl-N,N-dimethylamine(EDPA),and examined comparatively its rheological behavior,assemblies morphology and molecular stability in 20 wt%HCl with a commercial VES,erucyl dimethyl amidopropyl betaine(EDAB).The feasibility of EDPA for acidizing stimulation was assessed by acid etching of carbonate rock with its HCl solution at 150℃.Rheological results showed that the 2.5 wt%EDPA—20 wt%HCl solution maintains stable viscosity of 90 m Pa s at 150℃for 60 min,while that of 2.0 wt%EDAB HCl solution is just 1 m Pa s under identical conditions.1H NMR spectra and cryo-TEM observations revealed that the chemical structure and self-assembled architectures of EDPA remained intact in such context,but the EDAB suffered from degradation due to the hydrolysis of the amide group,accounting for the poor heat-resistance and *** reaction rate of 2.5 wt%EDPA HCl solution with carbonate rock was one order of magnitude lower than that of 20 wt%HCl solution at 150℃,underpinning the potential of EDPA to be used in the high-temperature reservoirs *** work improved the thermal tolerance of VES in highly concentrated HCl solution,paving a feasible way for the acidization of high-temperature reservoir environments(~150℃).

关键词： Viscoelastic surfactants Thermal stability Self-diverting acid Wormlike micelles Acidizing stimulation