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An Automatic Implementation of Oropharyngeal Swab Sampling for Diagnosing Respiratory Infectious Diseases via Soft Robotic End-Effectors

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Chinese Journal of mechanical Engineering 2024年第2期37卷 55-67页

作者： Yafeng Cui Wenjie Yu Jingjing Li Qi Shao Ding Weng Guoping Yin Xiaohao Zhang Xinjun Liu Jingying Ye Jiadao Wang Huichan Zhao Department of mechanical Engineering Tsinghua UniversityBeijing 100084China Beijing Huakang Tongbang Technology Company Beijing 102609China Department of Otorhinolaryngology Beijing Tsinghua Changgung HospitalSchool of Clinical MedicineTsinghua UniversityBeijing 102218China Tianjin research Institute for Advanced Equipment Tsinghua UniversityTianjin 300300China

The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction(PCR)assays on patients’respiratory specimens,which are collected through either nasal or oropharyngeal *** manual swab sampling process poses a high risk to the examiner and may cause false-negative results owing to improper *** this paper,we propose a pneumatically actuated soft end-effector specifically designed to achieve all of the tasks involved in swab *** soft end-effector utilizes circumferential instability to ensure grasping stability,and exhibits several key properties,including high load-to-weight ratio,error tolerance,and variable swab-tip stiffness,leading to successful automatic robotic oropharyngeal swab sampling,from loosening and tightening the transport medium tube cap,holding the swab,and conducting sampling,to snapping off the swab tail and sterilizing *** an industrial collaborative robotic arm,we integrated the soft end-effector,force sensor,camera,lights,and remote-control stick,and developed a robotic oropharyngeal swab sampling *** this swab sampling system,we conducted oropharyngeal swab-sampling tests on 20 *** Digital PCR assay results(RNase P RNA gene absolute copy numbers for the samples)revealed that our system successfully collected sufficient numbers of cells from the pharyngeal wall for respiratory disease *** summary,we have developed a pharyngeal swab-sampling system based on an“enveloping”soft actuator,studied the sampling process,and imple-mented whole-process robotic oropharyngeal swab-sampling.

关键词： Diagnosis Medical robot Soft end-effector Swab-sampling Digital PCR

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Development of Fixture Layout Optimization for Thin-Walled Parts:A Review

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Chinese Journal of mechanical Engineering 2024年第1期37卷 15-39页

作者： Changhui Liu Jing Wang Binghai Zhou Jianbo Yu Ying Zheng Jianfeng Liu School of mechanical Engineering Tongji UniversityShanghai 201804China Shanghai Jiaotong University Shanghai 200240China Shanghai Waigaoqiao Shipbuilding Co. Ltd.Shanghai 200137China

An increasing number of researchers have researched fixture layout optimization for thin-walled part assembly during the past ***,few papers systematically review these *** analyzing existing literature,this paper summarizes the process of fixture layout optimization and the methods *** process of optimization is made up of optimization objective setting,assembly variation/deformation modeling,and fixture layout *** paper makes a review of the fixture layout for thin-walled parts according to these three ***,two different kinds of optimization objectives are *** usually consider in-plane variations or out-of-plane deformations when designing ***,modeling methods for assembly variation and deformation are divided into two categories:Mechanism-based and data-based *** common methods are discussed *** that,optimization algorithms are reviewed *** are two kinds of optimization algorithms:Traditional nonlinear programming and heuristic ***,discussions on the current situation are *** research direction of fixture layout optimization in the future is discussed from three aspects:Objective setting,improving modeling accuracy and optimization ***,a new research point for fixture layout optimization is *** paper systematically reviews the research on fixture layout optimization for thin-walled parts,and provides a reference for future research in this field.

关键词： Thin-walled parts Assembly quality Fixture layout optimization Modeling methods Optimization algorithms

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Deployment analysis of composite thin-walled lenticular tubes with effect of storage time and temperature

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Chinese Journal of Aeronautics 2024年第1期37卷 162-172页

作者： Jinfeng DENG Ning AN Qilong JIA Xiaofei MA School of Aeronautics and Astronautics Sichuan UniversityChengdu 610065China state key laboratory for Strength and vibration of mechanical Structures School of AerospaceXi’an Jiaotong UniversityXi’an 710049China state key laboratory of Structural Analysis for Industrial Equipment Dalian University of TechnologyDalian 116024China Xi’an Institute of Space Radio Technology Xi’an 710100China

Composite Thin-walled Lenticular Tube(CTLT)is increasingly utilized in small satellites missions as a lightweight,foldable,and rollable structural material that facilitates the construction of large deployable *** CTLT is initially flattened and coiled around a central hub for storage before launch,during which elastic energy is stored as deformation energy,allowing it to be self-deployed on demand for use in *** work presents a comprehensive investigation into the coiling,storage and deployment behaviors of CTLT that wraps around a central hub.A nonlinear explicit dynamic finite element model was developed with both deformable CTLT and rigidbodies mechanisms including the central hub and guide rollers,as well as the complex interactions among *** coiling mechanics characteristics such as stored strain energy and rotational moment were presented and validated against experimental data in the ***,the dynamic deployment behaviors were analyzed in terms of two different deployment methods,namely,controlled deployment and free *** effect of material property change during storage was also discussed through numerical experiments.

关键词： Composite deployable structures Deployment dynamics Finite element method Stress relaxation Thin-walled booms

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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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AI for tribology:Present and future

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Friction 2024年第6期12卷 1060-1097页

作者： Nian YIN Pufan YANG Songkai LIU Shuaihang PAN Zhinan ZHANG state key laboratory of mechanical system and vibration Shanghai Jiao Tong UniversityShanghai 200240China School of mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of mechanical Engineering University of UtahSalt Lake CityUT 84112USA

With remarkable learning capabilities and swift operational speeds,artificial intelligence(AI)can assist researchers in swiftly extracting valuable patterns,trends,and associations from subjective *** behaviors are characterized by dependence on systems,evolution with time,and multidisciplinary *** friction process involves a variety of phenomena,including mechanics,thermology,electricity,optics,magnetics,and so ***,tribological information possesses the distinct characteristics of being multidisciplinary,multilevel,and multiscale,so that the application of AI in tribology is highly *** delineate the scope,classification,and recent trends of AI implementation in tribology,this review embarks on exploration of the tribology research *** comprehensively outlines the utilization of AI in basic theory of tribology,intelligent tribology,component tribology,extreme tribology,bio-tribology,green tribology,and other ***,considering the emergence of"tribo-informatics"as a novel interdisciplinary field,which combines tribology with informatics,this review elucidates the future directions and research framework of"AI for tribology".In this paper,tribo-system information is divided into 5 categories:input information(I),system intrinsic information(S),output information(O),tribological state information(Ts),and derived state information(Ds).Then,a fusion method among 5 types of tribo-system information and different AI technologies(regression,classification,clustering,and dimension reduction)has been proposed,which enables tribo-informatics methods to solve common problems such as tribological behavior state monitoring,behavior prediction,and system *** purpose of this review is to offer a systematic comprehension of tribo-informatics and to inspire new research ideas of ***,it aspires to enhance the efficiency of problem-solving in tribology.

关键词： artificial intelligence(AI) tribology machine learning tribo-informatics AI for tribology

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mechanical behavior of nanorubber reinforced epoxy over a wide strain rate loading

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Nano Materials Science 2024年第1期6卷 106-114页

作者： Yinggang Miao Jianping Yin Wenxuan Du Lianyang Chen Joint International research laboratory of Impact Dynamics and Its Engineering Applications School of AeronauticsNorthwestern Polytechnical UniversityXi'anShaanxi710072China state key laboratory for Strength and vibration of mechanical Structures Xi'an Jiaotong UniversityXi'anShaanxi710049China Shaanxi key laboratory of Impact Dynamics and Its Engineering Application School of AeronauticsNorthwestern Polytechnical UniversityXi'anShaanxi710072China

Nanorubber/epoxy composites containing 0,2,6 and 10 wt%nanorubber are subjected to uniaxial compression over a wide range of strain rate from 8×10^(-4) s^(-1) to~2×10^(4) s^(-1).Unexpectedly,their strain rate sensitivity and strain hardening index increase with increasing nanorubber *** mechanisms are proposed based on numerical simulations using a unit cell *** increase in the strain rate sensitivity with increasing nanorubber content results from the fact that the nanorubber becomes less incompressible at high strain,generating a higher hydro-static *** shear localization starts to occur in the epoxy under a strain rate of 22,000 s^(-1) when the strain exceeds *** presence of nanorubber in the epoxy reduces adiabatic shear localization by preventing it from propagating.

关键词： Strain rate Strain hardening Nano rubber Epoxy Adiabatic shearing localization

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Starved lubrication analysis of angular contact ball bearing based on a multi-degree-of-freedom tribo-dynamic model

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Friction 2023年第8期11卷 1395-1418页

作者： Chengwei WEN Xianghui MENG Jiaming GU Lin XIAO Shuang JIANG Hanbing BI state key laboratory of mechanical system and vibration Shanghai Jiaotong UniversityShanghai 200240China School of mechanical Engineering Shanghai Jiaotong UniversityShanghai 200240China Bearing Technical Center Shanghai Prime Machinery Co.Ltd.Shanghai 201108China Shanghai Tian An Bearing Co. Ltd.Shanghai 201108China

When the oil supply is not adequate to maintain the ideal lubrication,angular contact ball bearing will enter into the starved lubrication regime resulting in the potential performance degradation and consequently the severe *** study the effects of starved lubrication on the performance of angular contact ball bearing,this paper first proposes a multi-degree-of-freedom(DOF)tribo-dynamic model by introducing five-DOF inner ring,six-DOF balls,and six-DOF *** model considers the starved lubrication in the ball-raceway contact and the full multi-body interactions between the bearing *** different ball-raceway starvation degrees being analyzed,the effects of starved lubrication on the bearing tribo-dynamic performance are first *** comparison,it is found that the oil film thickness,the skidding performance,and the traction forces in the ball-raceway contact are significantly influenced by the starvation *** is also found that the starvation-induced change of the ball-pocket contact force is dramatical under combined loads,and the maximum contact force under this load condition increases with the increasing starvation degrees.

关键词： angular contact ball bearing starved lubrication tribo-dynamic performance multi-body interactions

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Metal matrix nanocomposites in tribology: Manufacturing, performance, and mechanisms

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Friction 2022年第10期10卷 1596-1634页

作者： Shuaihang PAN Kaiyuan JIN Tianlu WANG Zhinan ZHANG Long ZHENG Noritsugu UMEHARA Department of mechanical and Aerospace Engineering University of California Los Angeles(UCLA)Los AngelesCA 90095USA Physical Intelligence Department Max Planck Institute for Intelligent SystemsStuttgart 70569Germany Stake key laboratory of mechanical system and vibration Shanghai Jiao Tong UniversityShanghai 200240China key laboratory of Bionic Engineering(Ministry of Education) College of Biological and Agricultural EngineeringJilin UniversityChangchun 130022China Micro-Nano mechanical Science laboratory Department of Micro-Nano Mechanical Science and EngineeringGraduate School of EngineeringNagoya UniversityChikisa-ku Furo-choNagoyaAichi 464-8601Japan

Metal matrix nanocomposites(MMNCs)become irreplaceable in tribology industries,due to their supreme mechanical properties and satisfactory tribological ***,due to the dual complexity of MMNC systems and tribological process,the anti-friction and anti-wear mechanisms are unclear,and the subsequent tribological performance prediction and design of MMNCs are not easily possible:A critical up-to-date review is needed for MMNCs in *** review systematically summarized the fabrication,manufacturing,and processing techniques for high-quality MMNC bulk and surface coating materials in ***,important factors determining the tribological performance(mainly anti-friction evaluation by the coefficient of friction(CoF)and anti-wear assessment with wear rate)in MMNCs have been investigated thoroughly,and the correlations have been analyzed to reveal their potential coupling/synergetic roles of tuning tribological behavior of *** importantly,this review combined the classical metal/alloy friction and wear theories and adapted them to give a(semi-)quantitative description of the detailed mechanisms of improved anti-friction and anti-wear performance in *** guarantee the universal applications of these mechanisms,their links with the analyzed influencing factors(e.g.,loading forces)and characteristic features like tribo-film have been *** approach forms a solid basis for understanding,predicting,and engineering MMNCs’tribological behavior,instead of pure phenomenology and experimental ***,the pathway to achieve a broader application for MMNCs in tribo-related fields like smart materials,biomedical devices,energy storage,and electronics has been concisely discussed,with the focus on the potential development of modeling,experimental,and theoretical techniques in MMNCs’tribological *** general,this review tries to elucidate the complex tribo-performances of MMNCs in a fundamentally universal yet straightfor

关键词： metal matrix nanocomposites nanophases tribology manufacturing processes anti-wear performance strengthening effects anti-wear mechanisms

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Experimental-based study of gear vibration characteristics incorporating the fractal topography of tooth surface

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International Journal of mechanical system Dynamics 2023年第2期3卷 173-182页

作者： Qi'ao Lei Lei Yuan Xin Yu Yunyun Sun Hongguang Li School of Power and mechanical Engineering Wuhan UniversityWuhanHubei ProvinceChina state key laboratory of mechanical system and vibration Shanghai Jiao Tong UniversityShanghaiChina

Microscopic roughness is inevitable on the gear meshing surface,which is also a key parameter affecting the dynamic *** surface roughness exhibits self‐affine characteristics across *** explore the influence of surface fractal topography on the vibration amplitude of the gear system under different rotational speeds and loads,an experimental setup of spur gear transmission is *** fractal dimension and fractal roughness of the meshing surface are calculated by the power spectral density *** relationships between gear response and fractal parameters are revealed *** indicate that a rougher tooth surface,that is,a smaller fractal dimension or larger fractal roughness,corresponds to an intense vibration *** sensitivity of dynamic response to the tooth surface topography varies at different rotational speeds and *** low speed and light load conditions,the fractal dimension and fractal roughness have a more obvious influence on the dynamic response of the gear transmission *** the increase of speed and load,the macroworking conditions gradually become the main factor attributed to vibration amplitude.

关键词： spur gear fractal roughness vibration amplitude surface morphology

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Tribo-informatics approaches in tribology research:A review

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Friction 2023年第1期11卷 1-22页

作者： Nian YIN Zhiguo XING Ke HE Zhinan ZHANG state key laboratory of mechanical system and vibration Shanghai Jiao Tong UniversityShanghai 200240China School of mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National key laboratory for Remanufacturing Army Academy of Armored ForcesBeijing 100072China

Tribology research mainly focuses on the friction,wear,and lubrication between interacting *** the continuous increase in the industrialization of human society,tribology research objects have become increasingly *** research methods have also gone through the stages of empirical science based on phenomena,theoretical science based on models,and computational science based on *** research has a strong engineering *** to the intense coupling characteristics of tribology,tribological information includes subject information related to mathematics,physics,chemistry,materials,machinery,*** emerging data and models are the basis for the development of *** development of information technology has provided new and more efficient methods for generating,collecting,processing,and analyzing tribological *** a result,the concept of"tribo-informatics(triboinformatics)"has been *** this paper,guided by the framework of tribo-informatics,the application of tribo-informatics methods in tribology is *** article aims to provide helpful guidance for efficient and scientific tribology research using tribo-informatics approaches.

关键词： tribo-informatics data-driven artificial intelligence information technology machine learning

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