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Nanograting‑Based Dynamic Structural Colors Using Heterogeneous Materials

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Nano-Micro Letters 2025年第3期17卷 138-151页

作者： Jingang Wang Haibo Yu Jianchen Zheng Yuzhao Zhang Hongji Guo Ye Qiu Xiaoduo Wang Yongliang Yang Lianqing Liu State key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People’s Republic of China

Dynamic structuralcolors can change in response todifferent environmental *** ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a promising sensingmechanism for solving microenvironmentalsensing problems inmicro-robotics and ***, the lack of dynamicstructural colors that can encoderapidly, easily integrate, and accuratelyreflect changes in physical quantities hinders their use in microscale sensing applications. Herein, we present a 2.5-dimensionaldynamic structural color based on nanogratings of heterogeneous materials, which were obtained by interweaving a pH-responsive hydrogelwith an IP-L photoresist. Transverse gratings printed with pH-responsive hydrogels elongated the period of longitudinal grating in the swollenstate, resulting in pH-tuned structural colors at a 45° incidence. Moreover, the patterned encoding and array printing of dynamic structuralcolors were achieved using grayscale stripe images to accurately encode the periods and heights of the nanogrid structures. Overall, dynamicstructural color networks exhibit promising potential for applications in information encryption and in situ sensing for microfluidic chips.

关键词： Dynamic structural colors Four-dimensional printing pH-responsive Nanogrid Heterogeneous materials

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Modeling tactile perceived intensity for vibration from a coin eccentric rotating mass motor

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Science China Technological Sciences 2025年

作者： Yun FANG Jingchen HUANG Yujun WU Jiaqi DONG Weichao GUO Xinjun SHENG State key laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Meta robotics Institute Shanghai Jiao Tong University

Establishing the relationship between vibrotactile parameters and perceived intensity（PI） is of great significance in the regulation of desired sensations, which contribute to haptic interfaces in practical applications. Coin eccentric rotating mass（ERM） motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile sensations. By adjusting input voltages, ERMs can yield different stimuli, but the effects of their physical properties on PI remain ***, we developed the physical model of the ERM-skin system and optimized the parameters affecting PI. Moreover, the relationship between stimulus and perception was derived based on Fechner?s law. Three experiments were conducted on fifteen subjects（ten males and five females, aged 24.40 ± 2.87 years） to identify the vibration parameters and corresponding PI to verify the proposed PI model. ERMs in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the interference. Experiment 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual configuration. Then, the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R2of 0.73 ± 0.07 and root mean squared error（RMSE） of 1.35 ± 0.28. Overall, the proposed PI model established the quantitative relationship between stimulus parameters（vibration parameters and physical parameters） and subjective PI, which provided theoretical support for ERM optimization and vibrotactile modulation.

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Cooperative output regulation of heterogeneous directed multi-agent systems: a fully distributed model-free reinforcement learning framework

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Science China(Information Sciences) 2025年

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong key laboratory of Intelligent Morphing Mechanisms and Adaptive robotics School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) School of Automation Central South University School of marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation (COR) problem of a class of unknown heterogeneous multi-agent systems (MASs) with directed graphs is studied via a model-free reinforcement learning (RL) based fully distributed eventtriggered control (ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation (AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents’ dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism (ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

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High-precision magnetic field measurement system based on a coherent population trapping magnetometer onboard the SATech-01 satellite

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Science China Technological Sciences 2025年

作者： Hongbo XUE Wei SONG Haoran ZHAO Yiteng ZHANG Shanzhi YE Jindong WANG Ran TAO Peng SANG Keli CHEN Xingzi BI Bingjun CHENG Bin ZHOU Yongliang XUE Yingying TANG Liu LIU Jinsong LI Xiaocheng ZHU Baoquan LI Jinguo LIU Wen CHEN Xiaofeng ZHANG Yonghe ZHANG Lei LI State key laboratory of Space Weather National Space Science Center Chinese Academy of Sciences key laboratory of Solar Activity and Space Weather National Space Science Center Chinese Academy of Sciences key laboratory of Electronics and Information Technology for Space Systems National Space Science Center Chinese Academy of Sciences State key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences Innovation Academy for Microsatellites Chinese Academy of Sciences

On July 27, 2022, a high-precision system for measuring the magnetic field based on a coherent population trapping magnetometer（referred to as the CPT system） was launched onboard the Space Advanced Technology demonstration satellite（SATech-01） by a ZK-1A rocket. The payload comprises a scalar coherent population trapping magnetometer（CPTM）, triaxial anisotropic magnetoresistance magnetometer（AMRM）, and nano star tracker mounted on a non-magnetic telescopic tubular mast. This configuration enables synchronized measurement of scalar and vector geomagnetic fields, as well as the attitude,making the payload with its compact sensors suitable for applications on miniature satellite platforms. On November 7, 2022,the novel telescopic tubular mast was deployed in orbit, extending to a length of 5.28 m. The CPTM, an absolute scalar magnetometer with an omnidirectional sensor, is the first China-developed quantum/atomic magnetometer successfully operating in space. In orbit, the CPTM has sensitivity of ～10 pT/Hz1/2and can automatically operate under complex magnetic field variations. The difference between the scalar fields obtained using the CPTM and CHAOS model has a mean deviation of–3.73 n T and a standard deviation of 26.11 nT（1σ）, without on-orbit calibration or correction. The miniaturized AMRM has a sensitivity of ～0.3 n T/Hz1/2and maintains stable and reliable operation in orbit. The low-power and miniaturized nano star tracker has a measurement uncertainty of 14.23″（1σ） in orbit. The mission has realized the on-orbit technical verification of the integrated and synchronized detection of the vector magnetic field and attitude and fully validated the system's performance,automation level, and reliability.

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Intelligent interaction system based on multimodal conformal triboelectric nanogenerator patch for disabled sports and life

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Science China Technological Sciences 2025年

作者： Yuzhang WEN Mengqi ZHANG Zhenning XIE Zida AN Bing LIU Fengxin SUN Tianming ZHAO Zuojun YU Fei WANG Yupeng MAO Physical Education Department Northeastern University(Shenyang) Faculty of Robot Science and Engineering Northeastern University Criminal Investigation Police University of China State key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences China Ice Sports College Beijing Sport University

Intelligent interaction technology based on advanced sensing units has become a research hotspot. In this paper, an intelligent interaction system (IIS) based on a multimodal conformal triboelectric nanogenerator patch (MCTP) is reported for sports monitoring and life promotion of the disabled. This IIS consists of a cloud-based smart sports recognition program and a smart life application. The porous micro-reinforced structure of polyurethane (PU) Sponge&Ecoflex, and the surface modification of PTFE by coating it with MXene endows the MCTP with excellent electrical properties. It shows good angle and force sensitivities of 1.1 V/°and 1.61 V/N, respectively, and has an ultra-fast response time of 15 ms, meeting the needs of human motion monitoring. The MCTP can also capture the mechanical energy, producing a maximum output power of 139μ*** with the commercial inertial measuring unit (IMU), the MCTP shows better consistency in human joint angle sensing. A precise analysis of wheelchair curling sports monitoring points is achieved by combining the MCTP and the human anatomy model. The cloud-based smart sports recognition program utilizes machine learning to achieve visual feedback on the three throwing technologies of draw, takeout and clearing. In addition, the developed smart life application uses a highsensitivity MCTP-sensor array design to achieve a variety of smart home interactions through simple finger touches. Overall,the IIS integrates the three major functions of smart sports sensing, energy capture, and smart home control, providing important application prospects in the fields of smart sports and human-computer interaction for the disabled.

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受剪纸启发的具有嵌入式传感功能的连续体柔性臂用于无损检测和分拣（英文）

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Science China Materials 2025年

作者：徐金随徐博易岳洪浩陆一凡王哲平邓宗全杨飞 State key laboratory of robotics and System School of Mechatronics Engineering Harbin Institute of Technology Wu Xianming School of Intelligent Engineering South China University of Technology

柔性臂的传感能力对其性能至关重要.然而,目前柔性臂的驱动和传感通常并非一体化结构,这既可能干扰柔性臂的运动,也限制了其性能和应用范围.本研究提出了一种创新的驱动器结构与传感一体化设计方法,该方法结合了剪纸艺术与软体机器人技...

柔性臂的传感能力对其性能至关重要.然而,目前柔性臂的驱动和传感通常并非一体化结构,这既可能干扰柔性臂的运动,也限制了其性能和应用范围.本研究提出了一种创新的驱动器结构与传感一体化设计方法,该方法结合了剪纸艺术与软体机器人技术,通过激光切割技术将传感器以剪纸结构的形式嵌入驱动器中,实现了与柔性臂的无缝集成.基于此结构,我们开发了一种新型的叉指电容传感器,其高线性度显著优于传统的剪纸传感器.实验验证了柔性臂在实际物流分拣任务中的有效性,能够根据传感信号对物体进行精确分拣.本工作为柔性臂的高精度闭环反馈控制及环境交互提供了一种新的解决方案.

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Targets capture by distributed active swarms via bio-inspired reinforcement learning

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Science China(Physics,Mechanics & Astronomy) 2025年第1期Mechanics & Astronomy) .卷 210-221页

作者： Kun Xu Yue Li Jun Sun Shuyuan Du Xinpeng Di Yuguang Yang Bo Li Institute of Biomechanics and Medical Engineering Applied Mechanics Laboratory Department of Engineering MechanicsTsinghua University Institute of Nuclear and New Energy Technology Tsinghua University Shanghai Aerospace Control Technology Institute Shanghai key laboratory of Aerospace Intelligent Control Technology College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Natural swarms arranged from cells to herds are usually decentralized but display intriguing collective intelligence in coordinating individuals across large scales to efficiently achieve their common goals. Learning from nature may provide new strategies for controlling collective dynamics of synthetic swarms to accomplish specific functions. Here, we present a bioinspired computational framework that steers distributed active swarms to collectively capture and merge targets via reinforcement learning. We exploit collective milling structures of natural herds to cage the targets, and adopt a switching control policy inspired by sperms' chiral dynamics to optimize the trajectories of individuals, through which the active swarms can selforganize to enclose single or multiple distant targets in a dynamical, adaptive and scalable manner. There exists a critical swarm size, beyond which the excessive competition between agents would generate large mechanical forces, leading to capture instability but enabling the transition from short-distance to long-distance merging capture of multiple targets. This work provides physical insights into distributed active swarms and could offer a multilevel, decentralized strategy toward controlling swarm robotics in wide applications such as bio-medical devices, machine immunity, and target clearance.

关键词： swarm intelligence robotics multi-tasks artificial intelligence bionics

Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State key laboratory of robotics and System Harbin Institute of Technology The Learning Algorithms and Systems laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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An optimization method for metamorphic mechanisms based on multidisciplinary design optimization

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Chinese Journal of Aeronautics 2014年第6期27卷 1612-1618页

作者： Zhang Wuxiang Wu Teng Ding Xilun State key laboratory of robotics and System Harbin Institute of Technology Institute of robotics Beihang University

The optimization of metamorphic mechanisms is different from that of the conventional mechanisms for its characteristics of multi-configuration. There exist complex coupled design variables and constraints in its multiple different configuration optimization models. To achieve the compatible optimized results of these coupled design variables, an optimization method for metamorphic mechanisms is developed in the paper based on the principle of multidisciplinary design optimization（MDO）. Firstly, the optimization characteristics of the metamorphic mechanism are summarized distinctly by proposing the classification of design variables and constraints as well as coupling interactions among its different configuration optimization models. Further, collaborative optimization technique which is used in MDO is adopted for achieving the overall optimization performance. The whole optimization process is then proposed by constructing a two-level hierarchical scheme with global optimizer and configuration optimizer loops. The method is demonstrated by optimizing a planar five-bar metamorphic mechanism which has two configurations,and results show that it can achieve coordinated optimization results for the same parameters in different configuration optimization models.

关键词： Configuration Mechanism Metamorphic mechanisms Method Multidisciplinary design optimization Optimization model

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