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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

micro-nano-fabrication of green functional materials by multiphase microfluidics for environmental and energy applications

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Green Energy & Environment 2024年第8期9卷 1199-1219页

作者： Cheng Qi Tao Zhou Xingjiang Wu Kailang Liu Lei Li Zhou Liu Zhuo Chen Jianhong Xu Tiantian Kong Guangdong Provincial Key Laboratory of micro/Nano Optomechatronics engineering College of Mechatronics and Control EngineeringShenzhen University The State Key Laboratory of Chemical engineering Department of Chemical EngineeringTsinghua University College of Chemistry and Environmental engineering Shenzhen University department of Biomedical engineering School of MedicineShenzhen University

Multiphase microfluidic has emerged as a powerful platform to produce novel materials with tailor-designed functionalities, as microfluidic fabrication provides precise controls over the size, component, and structure of resultant materials. Recently, functional materials with welldefined micro-/nanostructures fabricated by microfluidics find important applications as environmental and energy materials. This review first illustrated in detail how different structures or shapes of droplet and jet templates are formed by typical configurations of microfluidic channel networks and multiphase flow systems. Subsequently, recent progresses on several representative energy and environmental applications, such as water purification, water collecting and energy storage, were overviewed. Finally, it is envisioned that integrating microfluidics and other novel materials will play increasing important role in contributing environmental remediation and energy storage in near future.

关键词： microfluidics Multi-phase flow Droplet and microfiber Environmental remediation Energy Storage

Level pinning of anti-PT-symmetric circuits for efficient wireless power transfer

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National Science Review 2024年第1期11卷 215-224页

作者： Zhiwei Guo Fengqing Yang Haiyan Zhang Xian Wu Qiong Wu Kejia Zhu Jun Jiang Haitao Jiang Yaping Yang Yunhui Li Hong Chen MOE Key Laboratory of Advanced micro-Structured Materials School of Physics Sciences and Engineering Tongji University department of Electrical engineering Tongji University School of Automotive Studies Tongji University

Wireless power transfer(WPT) technology based on magnetic resonance(a basic physical phenomenon)can directly transfer energy from the source to the load without wires and other physical contacts, and has been successfully applied to implantable medical devices, electric vehicles, robotic arms and other ***, due to the frequency splitting of near-field coupling, the resonant WPT system has some unique limitations, such as poor transmission stability and low efficiency. Here, we propose anti-resonance with level pinning for high-performance WPT. By introducing the anti-resonance mode into the basic WPT platform, we uncover the competition between dissipative coupling and coherent coupling to achieve novel level pinning, and construct an effective anti-parity-time(anti-PT)-symmetric non-Hermitian system that is superior to previous PT-symmetric WPT schemes. On the one hand, the eigenvalue of the anti-PT-symmetric system at resonance frequency is always pure real in both strong and weak coupling regions, and can be used to overcome the transmission efficiency decrease caused by weak coupling, as brought about by, for example, a large size ratio of the transmitter to receiver, or a long transmission *** the other hand, due to the level pinning effect of the two kinds of coupling mechanisms, the working frequency of the system is guaranteed to be locked, so frequency tracking is not required when the position and size of the receiver change. Even if the system deviates from the matching condition, an efficient WPT can be realized, thereby demonstrating the robustness of the level pinning. The experimental results show that when the size ratio of the transmitter coil to the receiver coil is 4.29(which is in the weak coupling region), the transfer efficiency of the anti-PT-symmetric system is nearly 4.3(3.2) times higher than that of the PT-symmetric system when the matching conditions are satisfied(deviated). With the miniaturization and integration of d

关键词： non-Hermitian system wireless power transfer anti-PT-symmetric circuits synthetic dimension metamaterials

A Bionic Starfish Adsorption Crawling Soft Robot

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Journal of Bionic engineering 2024年第1期21卷 149-165页

作者： Xiangang Huang Chenghao Zhang Wenqi Feng Xiangye Zhang Deyuan Zhang Yanqiang Liu Institute of Bionic and micro-Nano Systems School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

A variety of soft wall-climbing robots have been developed that can move in certain *** of these soft robots can only move on conventional surfaces and lack adaptability to complex *** the adaptability of soft robots on complex surfaces is still a challenging *** this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm *** by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation *** design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide *** soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the *** stiffness layers achieve stiffness changes by the principle of line *** Central Pattern Generator theory is introduced to coordinately control the multiple feet of the *** experiments,we verify the adaptability of the soft robot to curved *** research may provide a reference for the design and development of crawling soft robots on complex surfaces.

关键词： Starfish Tube foot Biomimetic robot Soft robot Climbing robot

Distributed Hybrid Model Predictive Secondary Control of DC microgrids with Random Communication Disorders

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Journal of Modern Power Systems and Clean Energy 2024年第3期12卷 925-935页

作者： Meysam Yaribeygi Zeinab Karami Qobad Shafiee Hassan Bevrani the department of Electrical engineering K.N.Toosi University of TechnologyTehranIranand he is now with the Sportradar CompanyTrondheimNorway the department of engineering Cybernetics(ITK) Norwegian University of Science and Technology(NTNU)TrondheimNorway the Smart/micro Grids Research Center Department of Electrical EngineeringUniversity of KurdistanSanandajIran

A reliable and robust communication network is essential to exchange information between distributed generators(DGs)and accurately calculate their control actions in microgrids(MGs).However,the integration of the communication network and MGs poses challenges related to the flexibility,availability,and reliability of the ***,random communication disorders such as time delays and packet loss can negatively impact the system ***,it is essential to design a suitable secondary controller(SC)with a fast dynamic response to restore voltage and appropriate powersharing,while ensuring that the effects of random communication disorders are *** this regard,an optimal distributed hybrid model predictive secondary control method is presented in this *** simulations are carried out in a mixed simulation environment based on MATLAB and OMNET++,by considering IEEE 802.11(Wi Fi)using the recently developed Internet networking(INET)*** the implemented application layer,the recovery Unit is responsible for reducing the impact of random communication *** effectiveness and performance of the proposed method in comparison with a conventional model predictive control are verified by simulation results.

关键词： microgrid model predictive control random communication disorder secondary control

A strong physical unclonable function with machine learning immunity for Internet of Things application

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Science China(Information Sciences) 2024年第1期67卷 271-283页

作者： Pengpeng REN Yongkang XUE Linglin JING Lining ZHANG Runsheng WANG Zhigang JI National Key Laboratory of Science and Technology on micro/Nano Fabrication Shanghai Jiao Tong University department of micro/Nano Electronics Shanghai Jiao Tong University School of Electronic and Computer engineering Peking University School of Integrated Circuits Peking University

The physical unclonable functions(PUFs) are novel cryptographic primitives in modern hardware security *** with traditional alternatives based on digital keys and non-volatile memory(NVM),the PUF system shows great unclonability,high efficiency,and physical attack ***,the conventional PUF design suffers from weak machine learning immunity,high storage overhead,and unreliability,making it difficult to implement in the Internet of Things(Io T) and edge computing *** paper presents a new PUF design that could solve the proposed *** utilizing the emission probability of traps commonly found in nano-scaled transistors,a model-based PUF system with strong machine learning resistance could be *** PUF design,called Prob-PUF,needs fewer challengeresponse pairs(CRPs) space and reveals superior resistance to modeling attacks due to the mixture of stable/random bits in its output ***,the Prob-PUF system could reach a high level of uniqueness and robustness,making it a potential candidate for future cryptographically secured protocols within the IoT.

关键词： physical unclonable function (PUF) electron traps authentication encryption cryptography security

Flexible pressure sensors with ultrahigh stress tolerance enabled by periodic microslits

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microsystems & Nanoengineering 2024年第1期10卷 301-311页

作者： Song Wang Chenying Wang Yifan Zhao Yujing Zhang Yaxin Zhang Xiangyue Xu Qijing Lin Kai Yao Yuheng Wang Feng Han Yu Sun Zhuangde Jiang State Key Laboratory for Manufacturing Systems engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’anChina State Key Laboratory for Manufacturing Systems engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesSchool of Instrument Science and TechnologyXi’an Jiaotong UniversityXi’anChina The Faculty of Electrical engineering and Computer Science Ningbo UniversityNingboChina department of Mechanical and Industrial engineering University of TorontoTorontoCanada

Stress tolerance plays a vital role in ensuring the effectiveness of piezoresistive sensing films used in flexible pressure ***,existing methods for enhancing stress tolerance employ dome-shaped,wrinkle-shaped,and pyramidal-shaped microstructures in intricate molding and demolding processes,which introduce significant fabrication challenges and limit the sensing *** address these shortcomings,this paper presents periodic microslits in a sensing film made of multiwalled carbon nanotubes and polydimethylsiloxane to realize ultrahigh stress tolerance with a theoretical maximum of 2.477 MPa and a sensitivity of 18.092 kPa−*** periodic microslits permit extensive deformation under high pressure(e.g.,400 kPa)to widen the detection ***,the periodic microslits also enhance the sensitivity based on simultaneously exhibiting multiple synapses within the sensing interface and between the periodic sensing *** proposed solution is verified by experiments using sensors based on the microslit strategy for wind direction detection,robot movement sensing,and human health *** these experiments,vehicle load detection is achieved for ultrahigh pressure sensing under an ultrahigh pressure of over 400 kPa and a ratio of the contact area to the total area of 32.74%.The results indicate that the proposed microslit strategy can achieve ultrahigh stress tolerance while simplifying the fabrication complexity of preparing microstructure sensing films.

关键词： robot shaped stress

Observation of accurately designed bound states in the continuum in momentum space

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Photonics Research 2024年第4期12卷 638-647页

作者： JIAJU WU JINGGUANG CHEN XIN QI ZHIWEI GUO JIAJUN WANG FENG WU YONG SUN YUNHUI LI HAITAO JIANG LEI SHI JIAN ZI HONG CHEN MOE Key Laboratory of Advanced micro-Structured Materials School of Physics Science and EngineeringTongji UniversityShanghai 200092China State Key Laboratory of Surface Physics Key Laboratory of Micro-and Nano-Photonic Structures(Ministry of Education)and Department of PhysicsFudan UniversityShanghai 200433China School of Optoelectronic engineering Guangdong Polytechnic Normal UniversityGuangzhou 510665China

Bound states in the continuum(BICs)in artificial photonic structures have received considerable attention since they offer unique methods for the extreme field localization and enhancement of light-matter ***,the symmetry-protected BICs are located at high symmetric points,while the positions of accidental BICs achieved by tuning the parameters will appear at some points in momentum *** to now,to accurately design the position of the accidental BIC in momentum space is still a ***,we theoretically and experimentally demonstrate an accurately designed accidental BIC in a two-coupled-oscillator system consisting of bilayer gratings,where the optical response of each grating can be described by a single resonator *** changing the interlayer distance between the gratings to tune the propagation phase shift related to wave vectors,the position of the accidental BIC can be arbitrarily controlled in momentum ***,we present a general method and rigorous numerical analyses for extracting the polarization vector fields to observe the topological properties of BICs from the polarization-resolved transmission ***,an application of the highly efficient second harmonic generation assisted by quasi-BIC is *** work provides a straightforward strategy for manipulating BICs and studying their topological properties in momentum space.

关键词： polarization tuning resonator

Topological laser on square lattice with gain–loss-induced higher-order corner modes

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Chinese Physics B 2024年第6期33卷 189-195页

作者：廖明杰韦梅松王帅领许静平羊亚平 MOE Key Laboratory of Advanced micro-Structured Materials School of Physics Science and EngineeringTongji UniversityShanghai 200092China

We investigate the higher-order topological laser in the two-dimensional(2D) coupled-cavity array. By adding staggered on-site gain and loss to the 2D Hermitian array with a trivial phase, the system will emerge degenerate topological corner modes, which are protected by bulk band gap. For such a non-Hermitian model, by adjusting the parameters of the system and introducing the pumping into the cavity at the corner, a single-mode lasing with topological protection ***, single-mode lasing exists over a wide range of pumping strengths. No matter where the cavity is initially stimulated, after enough time evolution, all the cavities belonging to the topological corner mode can emit a stable laser.

关键词： topological corner modes nonlinear saturated gain single-mode lasing