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Applied Mathematics and Mechanics(English Edition) 2024年第6期45卷 947-962页

作者： N.IQBAL J.CHOI S.F.SHAH C.LEE S.LEE department of Mechanical Roboticsand Energy EngineeringDongguk University-SeoulSeoul 04620Republic of Korea

A chemo-mechanical model is developed to investigate the effects on the stress development of the coating of polycrystalline Ni-rich LiNixMnyCo_(z)O_(2)(x>0.8)(NMC)particles with poly(3,4-ethylenedioxythiophene)(PEDOT).The simulation results show that the coating of primary NMC particles significantly reduces the stress generation by efficiently accommodating the volume change associated with the lithium diffusion,and the coating layer plays roles both as a cushion against the volume change and a channel for the lithium transport,promoting the lithium distribution across the secondary particles more homogeneously.Besides,the lower stiffness,higher ionic conductivity,and larger thickness of the coating layer improve the stress mitigation.This paper provides a mathematical framework for calculating the chemo-mechanical responses of anisotropic electrode materials and fundamental insights into how the coating of NMC active particles mitigates stress levels.

关键词： lithium-ion battery(LIB) polycrystalline particle coating finite element simulation Ni-rich LiNixMnyCo_(z)O_(2)(x>0.8)(NMC)

Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

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The Innovation 2024年第1期5卷 19-20页

作者： Bi Zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu Xingang Zhao State Key Laboratory of robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for robotics and Intelligent Manufacturing CASShenyang 110169China department of Biomedical Engineering Beihang UniversityBeijing 100191China Beijing ai-robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for humankind.Various robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security inspections.The integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi department of robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental remediation.Metal-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen bubbles.This novel feature has projected degradable metallic micromotors for active in vivo drug delivery applications.In addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and performance.Its propulsion efficiency and life span govern the overall performance of a degradable metallic micromotor.Here we review the design and recent advancements of metallic degradable micromotors.Furthermore,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical applications.Moreover,we discuss micromotors’efficacy in detecting and destroying environmental pollutants.Finally,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

Robust control of isopropyl benzene production process using H_(∞) loop shaping control scheme

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Journal of Control and Decision 2024年第1期11卷 153-163页

作者： Vinila Mundakkal Lakshmanan Aparna Kallingal Sreepriya Sreekumar department of Chemical Engineering National Institute of Technology CalicutKozhikodeKeralaIndia department of robotics and Automation Adi Shankara Institute of Engineering and TechnologyKaladyIndia

This paper discusses robust control strategy for isopropyl benzene production process using the method of loop shaping H_(∞) technology.This cumene production process is a part of phenol plant in HOCL,Kochi.H_(∞) control of the propylene concentration is done here.The H_(∞) controller is derived from the linearised model of the reactor.The optimal H_(∞) controller is obtained by simplifying two algebraic Riccati equations.The proposed PID-like H_(∞) controller provides a single tuning parameter which makes the controller design more accurate.The proposed controller has been compared with other robust controllers like H_(2) and LQR.The H_(∞) controller is found to be superior in a wide frequency range and has a feature of low distortion and good regulating performance.The reactor model has been developed in COMSOL Multiphysics with the parameters obtained from HOCL plant,Kochi.The model extracted is reduced using model order reduction for the controller design.

关键词： Cumene reactor H_(∞)loop shaping model order reduction Riccati equation PID control stability robustness

Constructing a biofunctionalized 3D-printed gelatin/sodium alginate/chitosan tri-polymer complex scaffold with improvised biological andmechanical properties for bone-tissue engineering

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Bio-Design and Manufacturing 2024年第1期7卷 57-73页

作者： Amit Kumar Singh Krishna Pramanik Amit Biswas Centre of excellence in Tissue Engineering Department of Biotechnology and Medical EngineeringNational Institute of TechnologyRourkela 769008India

Sodium alginate(SA)/chitosan(CH)polyelectrolyte scaffold is a suitable substrate for tissue-engineering application.The present study deals with further improvement in the tensile strength and biological properties of this type of scaffold to make it a potential template for bone-tissue regeneration.We experimented with adding 0%–15%(volume fraction)gelatin(GE),a protein-based biopolymer known to promote cell adhesion,proliferation,and differentiation.The resulting tri-polymer complex was used as bioink to fabricate SA/CH/GEmatrices by three-dimensional(3D)printing.Morphological studies using scanning electron microscopy revealed the microfibrous porous architecture of all the structures,which had a pore size range of 383–419μm.X-ray diffraction and Fourier-transform infrared spectroscopy analyses revealed the amorphous nature of the scaffold and the strong electrostatic interactions among the functional groups of the polymers,thereby forming polyelectrolyte complexes which were found to improve mechanical properties and structural stability.The scaffolds exhibited a desirable degradation rate,controlled swelling,and hydrophilic characteristics which are favorable for bone-tissue engineering.The tensile strength improved from(386±15)to(693±15)kPa due to the increased stiffness of SA/CH scaffolds upon addition of gelatin.The enhanced protein adsorption and in vitro bioactivity(forming an apatite layer)confirmed the ability of the SA/CH/GE scaffold to offer higher cellular adhesion and a bone-like environment to cells during the process of tissue regeneration.In vitro biological evaluation including the MTT assay,confocal microscopy analysis,and alizarin red S assay showed a significant increase in cell attachment,cell viability,and cell proliferation,which further improved biomineralization over the scaffold surface.In addition,SA/CH containing 15%gelatin designated as SA/CH/GE15 showed superior performance to the other fabricated 3D structures,demonstrating its potential for use in bone-tissue engineering.

关键词： Scaffold Biomaterial Sodium alginate Chitosan Gelatin 3D printing Tissue engineering

Generalized polynomial chaos expansion by reanalysis using static condensation based on substructuring

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Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 819-836页

作者： D.LEE S.CHANG J.LEE department of Automotive Engineering Hanyang UniversitySeoul 04763Republic of Korea School of Mechanical Engineering Chungnam National UniversityDaejeon 34134Republic of Korea department of Mechanical Robotics and Energy EngineeringDongguk UniversitySeoul 04620Republic of Korea

This paper presents a new computational method for forward uncertainty quantification(UQ)analyses on large-scale structural systems in the presence of arbitrary and dependent random inputs.The method consists of a generalized polynomial chaos expansion(GPCE)for statistical moment and reliability analyses associated with the stochastic output and a static reanalysis method to generate the input-output data set.In the reanalysis,we employ substructuring for a structure to isolate its local regions that vary due to random inputs.This allows for avoiding repeated computations of invariant substructures while generating the input-output data set.Combining substructuring with static condensation further improves the computational efficiency of the reanalysis without losing accuracy.Consequently,the GPCE with the static reanalysis method can achieve significant computational saving,thus mitigating the curse of dimensionality to some degree for UQ under high-dimensional inputs.The numerical results obtained from a simple structure indicate that the proposed method for UQ produces accurate solutions more efficiently than the GPCE using full finite element analyses(FEAs).We also demonstrate the efficiency and scalability of the proposed method by executing UQ for a large-scale wing-box structure under ten-dimensional(all-dependent)random inputs.

关键词： forward uncertainty quantification(UQ) generalized polynomial chaos expansion(GPCE) static reanalysis method static condensation substructuring

A critical review towards the causes of the iron-based catalysts deactivation mechanisms in the selective oxidation of hydrogen sulfide to elemental sulfur from biogas

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Journal of Energy Chemistry 2024年第3期90卷 388-411,I0010页

作者： Mostafa Tarek Janaina S.Santos Victor Márquez Mohammad Fereidooni Mohammad Yazdanpanah Supareak Praserthdam Piyasan Praserthdam Center of excellence on Catalysis and Catalytic Reaction Engineering(CECC) Department of Chemical EngineeringFaculty of EngineeringChulalongkorn UniversityBangkok 10330Thailan High-Performance Computing Unit(CECC-HCU) Center of Excellence on Catalysis and Catalytic Reaction Engineering(CECC)Chulalongkorn UniversityBangkok 10330Thailand

Hydrogen sulfide(H_(2)S) not only presents significant environmental concerns but also induces severe corrosion in industrial equipment,even at low concentrations.Among various technologies,the selective oxidation of hydrogen sulfide(SOH_(2)S) to elemental sulfur(S) has emerged as a sustainable and environmentally friendly solution.Due to its unique properties,iron oxide has been extensively investigated as a catalyst for SOH_(2)S;however,rapid deactivation has remained a significant drawback.The causes of iron oxide-based catalysts deactivation mechanisms in SOH_(2)S,including sulfur or sulfate deposition,the transformation of iron species,sintering and excessive oxygen vacancy formation,and active site loss,are thoroughly examined in this review.By focusing on the deactivation mechanisms,this review aims to provide valuable insights into enhancing the stability and efficiency of iron-based catalysts for SOH_(2)S.

关键词： Selective oxidation of H_(2)S Iron-based Catalysts Mechanism of deactivation Sulfur or sulfate deposition Transformation of iron species Sintering SDG 7

Graph neural network based method for robot path planning

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Biomimetic Intelligence & robotics 2024年第1期4卷 80-87页

作者： Xingrong Diao Wenzheng Chi Jiankun Wang Shenzhen Key Laboratory of robotics Perception and Intelligence Department of Electronic and Electrical EngineeringSouthern University of Science and TechnologyShenzhen 518055China robotics and Microsystems Center School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215021China Jiaxing Research Institute Southern University of Science and TechnologyJiaxing 314000China

Sampling-based path planning is widely used in robotics,particularly in high-dimensional state spaces.In the path planning process,collision detection is the most time-consuming operation.Therefore,we propose a learning-based path planning method that reduces the number of collision checks.We develop an efficient neural network model based on graph neural networks.The model outputs weights for each neighbor based on the obstacle,searched path,and random geometric graph,which are used to guide the planner in avoiding obstacles.We evaluate the efficiency of the proposed path planning method through simulated random worlds and real-world experiments.The results demonstrate that the proposed method significantly reduces the number of collision checks and improves the path planning speed in high-dimensional environments.

关键词： Graph Neural Network(GNN) Collision detection Sampling-based path planning

Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 131-140页

作者： Zhongyang Wang Youqing Wang Zdzisław Kowalczuk the College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China IEEE the department of robotics and Decision Systems Faculty of ElectronicsTelecommunications and InformaticsGdańsk University of TechnologyGdansk 80-233Poland

In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.

关键词： Adaptive dynamic programming(ADP) internal model principle(IMP) output feedback problem policy iteration(PI) value iteration(VI)

An Optimization Model for Reliability Improvement and Cost Reduction Through EV Smart Charging

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 608-620页

作者： Jinping Zhao Ali Arefi Alberto Borghetti Gerard Ledwich School of Engineering and Energy Murdoch UniversityPerthAustralia department of Electrical Electronicand Information EngineeringUniversity of BolognaBologna40126Italy School of Electrical Engineering and robotics Queensland University of TechnologyBrisbaneQLD 4000Australia

There is a general concern that the increasing penetration of electric vehicles(EVs)will result in higher aging failure probability of equipment and reduced network reliability.The electricity costs may also increase,due to the exacerbation of peak load led by uncontrolled EV charging.This paper proposes a linear optimization model for the assessment of the benefits of EV smart charging on both network reliability improvement and electricity cost reduction.The objective of the proposed model is the cost minimization,including the loss of load,repair costs due to aging failures,and EV charging expenses.The proposed model incorporates a piecewise linear model representation for the failure probability distributions and utilizes a machine learning approach to represent the EV charging load.Considering two different test systems(a 5-bus network and the IEEE 33-bus network),this paper compares aging failure probabilities,service unavailability,expected energy not supplied,and total costs in various scenarios with and without the implementation of EV smart charging.

关键词： Aging failure electric vehicle(EV) EV charging power system reliability expected energy not supplied distribution network.