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TrinityMag: A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

Science China Technological Sciences 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian guangdong provincial key laboratory of robotics and intelligent system Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences key laboratory of Biomedical Imaging Science and system Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice, such as targeted therapy and precise surgery. However, the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human bodies. The present study proposes an innovative electromagnets-based manipulating system, TrinityMag, which can produce dynamic three-dimensional(3D) magnetic fields in a human-scale spherical workspace with a 2.6 m diameter. The magnetic field of a single electromagnet is simulated, and a new calibration technic is designed based on deep learning networks. Then, the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited currents. Moreover, a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real time. Finally, the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of locomotions. The maximum speed of the soft millirobot reaches 11.05 body length/s. Our work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature robots. We further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu guangdong provincial key lab of robotics and intelligent systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The key laboratory of Biomedical Imaging Science and system Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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Broadband high-efficiency dielectric metalenses based on quasi-continuous nanostrips

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Opto-Electronic Advances 2024年第5期7卷 43-51页

作者： Xiaohu Zhang Qinmiao Chen Dongliang Tang Kaifeng Liu Haimo Zhang Lintong Shi Mengyao He Yongcai Guo Shumin Xiao key laboratory of optoelectronic Technology and systems of the Education Ministry of China Chongqing UniversityChongqing 400044China Ministry of Industry and Information Technology key lab of Micro-Nano Optoelectronic Information system Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China key laboratory for Micro/Nano Optoelectronic Devices of Ministry of Education&Hunan provincial key laboratory of Low-Dimensional Structural Physics and Devices School of Physics and ElectronicsHunan UniversityChangsha 410082China

Benefiting from the abrupt phase changes within subwavelength thicknesses,metasurfaces have been widely applied for lightweight and compact optical *** broadband and high-efficiency characteristics are highly attractive for the practical implementation of ***,current metasurface devices mostly adopt discrete micro/nano structures,which rarely realize both merits *** this paper,dielectric metasurfaces composed of quasi-continuous nanostrips are proposed to overcome this *** quasi-continuous nanostrips metasurface,a normal focusing metalens and a superoscillatory lens overcoming the diffraction limit are designed and experimentally *** quasi-continuous metadevices can operate in a broadband wavelength ranging from 450 nm to 1000nm and keep a high power *** average efficiency of the fabricated metalens reaches 54.24%,showing a significant improvement compared to the previously reported metalenses with the same *** proposed methodology can be easily extended to design other metadevices with the advantages of broadband and high-efficiency in practical optical systems.

关键词： broadband high-efficiency metalens sub-diffraction quasi-continuous

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Attitude Tracking Control for Rigid Spacecraft with Arbitrary Convergence Time

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Journal of systems Science & Complexity 2024年

作者： XU Yu-Tian WU Ai-Guo guangdong provincial key laboratory of intelligent Morphing Mechanisms and Adaptive robotics Harbin Institute of Technology (Shenzhen) key University laboratory of Mechanism & Machine Theory and intelligent Unmanned systems of guangdong Harbin Institute of Technology (Shenzhen) Department of Automation Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China4HIT Wuhu Robot Technology Research Institute

In this paper, attitude tracking control with arbitrary convergence time for rigid spacecraft is considered. First, a novel time-varying sliding function is proposed to achieve free-will arbitrary time convergence when the system states reside on the sliding surface. With such a sliding function, an attitude tracking controller is designed to guarantee that the states of the closed-loop system converge to the sliding surface within a predetermined time in the presence of external disturbances. The free-will arbitrary time convergences of the closed-loop system and sliding function are illustrated by numerical simulations.

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Miniature tunable Airy beam optical meta-device

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Opto-Electronic Advances 2024年第2期7卷 5-12页

作者： Jing Cheng Zhang Mu Ku Chen Yubin Fan Qinmiao Chen Shufan Chen Jin Yao Xiaoyuan Liu Shumin Xiao Din Ping Tsai Department of Electrical Engineering City University of Hong KongKowloonHong Kong SAR 999077China State key laboratory of Terahertz and Millimeter Waves City University of Hong KongKowloonHong Kong SAR 999077China Centre for Biosystems Neuroscienceand NanotechnologyCity University of Hong KongKowloonHong Kong SAR 999077China Ministry of Industry and Information Technology key lab of Micro-Nano Optoelectronic Information system Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China

Tunable Airy beams with controllable propagation trajectories have sparked interest in various fields,such as optical manipulation and laser *** research approaches encounter challenges related to insufficient compactness and integration feasibility,or they require enhanced tunability to enable real-time dynamic manipulation of the propagation *** this work,we present a novel method that utilizes a dual metasurface system to surpass these limitations,significantly enhancing the practical potential of the Airy *** approach involves encoding a cubic phase profile and two off-axis Fresnel lens phase profiles across the two *** validity of the proposed strategy has been confirmed through simulation and experimental *** proposed meta-device addresses the existing limitations and lays the foundation for broadening the applicability of Airy beams across diverse domains,encompassing light-sheet microscopy,laser fabrication,optical tweezers,etc.

关键词： metasurface miniature device tunable Airy beam tunable meta-device

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Time-synchronous-averaging-spectrum based on super-resolution analysis and application in bearing fault signal identification

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第7期25卷 573-585页

作者： Zengle REN Yuan WANG Huiyue TANG Xin'an CHEN Wei FENG guangdong provincial key laboratory of Construction robotics and intelligent Construction Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen EBORAIL Technology Co. Ltd.Shenzhen518038China National Supercomputing Center in Shenzhen Shenzhen518055China State key lab of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China University of Chinese Academy of Sciences Beijing100190China Shenzhen University of Advanced Technology Shenzhen518107China

Time-synchronous-averaging(TSA)is based on the idea of denoising by averaging,and it extracts the periodic components of a quasiperiodic signal and keeps the extracted waveform *** paper studies the mathematical properties of TSA,where three propositions are given to reveal the nature of *** paper also proposes a TSA-spectrum based on super-resolution analysis and it decomposes a signal without using any base *** contrast to discrete Fourier transform spectrum(DFT-spectrum),which is a spectrum in frequency domain,TSA-spectrum is a period-based spectrum,which can present more details of the cross effects between different periodic components of a quasiperiodic ***,a case study is carried out using bearing fault analysis to illustrate the performance of TSA-spectrum,where the rotation speed fluctuation of the shaft is estimated,which is about 0.12 ms *** extracted fault signals are presented and some insights are *** believe that this paper can provide new motivation for TSA-spectrum to be widely used in applications involving quasiperiodic signal processing(QSP).

关键词： Time-synchronous-averaging(TSA) Spectrum Quasiperiodic signal processing(QSP) Super-resolution analysis Bearingfaultdetection

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Resonantly enhanced second-and third-harmonic generation in dielectric nonlinear metasurfaces

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Opto-Electronic Advances 2024年第5期7卷 5-19页

作者： Ji Tong Wang Pavel Tonkaev Kirill Koshelev Fangxing Lai Sergey Kruk Qinghai Song Yuri Kivshar Nicolae C.Panoiu Department of Electronic and Electrical Engineering University College LondonLondon WC1E 7JEUnited Kingdom Nonlinear Physics Center Research School of PhysicsAustralian National UniversityCanberra ACT 2601Australia Ministry of Industry and Information Technology key lab of Micro-Nano Optoelectronic Information system Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China Wuzhen laboratory EGO Wuzhen Digital Economy Industrial ParkNo.925 Daole RoadTongxiangChina

Nonlinear dielectric metasurfaces provide a promising approach to control and manipulate frequency conversion optical processes at the nanoscale,thus facilitating both advances in fundamental research and the development of new practical applications in photonics,lasing,and ***,we employ symmetry-broken metasurfaces made of centrosymmetric amorphous silicon for resonantly enhanced second-and third-order nonlinear optical *** the rich physics of optical quasi-bound states in the continuum and guided mode resonances,we comprehensively study through rigorous numerical calculations the relative contribution of surface and bulk effects to second-harmonic generation(SHG)and the bulk contribution to third-harmonic generation(THG) from the ***,we experimentally achieve optical resonances with high quality factors,which greatly boosts light-matter interaction,resulting in about 550 times SHG enhancement and nearly 5000-fold increase of THG.A good agreement between theoretical predictions and experimental measurements is *** gain deeper insights into the physics of the investigated nonlinear optical processes,we further numerically study the relation between nonlinear emission and the structural asymmetry of the metasurface and reveal that the generated harmonic signals arising from linear sharp resonances are highly dependent on the asymmetry of the *** work suggests a fruitful strategy to enhance the harmonic generation and effectively control different orders of harmonics in all-dielectric metasurfaces,enabling the development of efficient active photonic nanodevices.

关键词： second-harmonic generation third-harmonic generation bound state in the continuum guided mode resonance all-dielectric metasurfaces nonlinear optics

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Meta-device:advanced manufacturing

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Light(Advanced Manufacturing) 2024年第1期5卷 115-130页

作者： Borui Leng Yao Zhang Din Ping Tsai Shumin Xiao Department of Electrical Engineering City University of Hong KongHong Kong999077China Centre for Biosystems Neuroscience and NanotechnologyCity University of Hong KongHong Kong999077China The State key laboratory of Terahertz and Millimeter Waves City University of Hong KongHong Kong999077China Ministry of Industry and Information Technology key lab of Micro-Nano Optoelectronic Information system Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China Pengcheng laboratory Shenzhen 518055China

Metasurfaces are one of the most promising devices to break through the limitations of bulky optical *** offering a new method of light manipulation based on the light-matter interaction in subwavelength nanostructures,metasurfaces enable the efficient manipulation of the amplitude,phase,polarization,and frequency of light and derive a series of possibilities for important ***,one key challenge for the realization of applications for meta-devices is how to fabricate large-scale,uniform nanostructures with high *** this review,we review the state-of-the-art nanofabrication techniques compatible with the manufacture of *** lithography,masked lithography,and other nanofabrication techniques are highlighted in *** also delve into the constraints and limitations of the current fabrication methods while providing some insights on solutions to overcome these challenges for advanced nanophotonic applications.

关键词： Meta-device Metasurface Nanofabrication COMS-compatible fabrication

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Multi-Time-Scale Variational Mode Decomposition-Based Robust Fault Diagnosis of Railway Point Machines Under Multiple Noises

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Chinese Journal of Electronics 2024年第3期33卷 814-822页

作者： Junqi LIU Tao WEN Guo XIE Yuan CAO Clive Roberts Shaanxi key laboratory of Complex system Control and intelligent Information Processing Xi'an University of Technology The School of Electronic and Information Engineering Beijing Jiaotong University Birmingham Centre for Railway Research and Education University of Birmingham

The fault diagnosis of railway point machines(RPMs) has attracted the attention of engineers and *** have studies considered diverse noises along the *** fulfill this aspect,a multi-time-scale variational mode decomposition(MTSVMD) is proposed in this paper to realize the accurate and robust fault diagnosis of RPMs under multiple *** decomposes condition monitoring signals after coarse-grained processing in varying *** this manner,the information contained in the signal components at multiple time scales can construct a more abundant feature space than at a single *** the experimental validation,a random position,random type,random number,and random length(4R) noise-adding algorithm helps to verify the robustness of the *** adequate experimental results demoristrate the superiority of the proposed MTSVMD-based fault diagnosis.

关键词： Fault diagnosis Condition monitoring Noise Signal processing algorithms Aerospace electronics Rail transportation Robustness

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Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 160-175页

作者： Ya Liu Wenjuan Lu Dabao Fan Weijian Tan Bo Hu Daxing Zeng School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Dongguan University of TechnologyDongguan 523808China Dongguan Engineering Technology Research Center for Parallel Robot Dongguan 523808China The DGUT Innovation Center of robotics and intelligent Equipment Dongguan 523808China

The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the *** study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and ***,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were ***,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis ***,an HRCC kinematic model was established to verify the self-alignment capability of the *** this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

关键词： Ankle rehabilitation robot Self-alignment Parallel mechanism Type synthesis Screw theory

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